Greedy spiral dynamic algorithm with application to controller design

This paper introduce a spiral dynamic algorithm (SDA) with greedy selection for optimization problems. The algorithm is developed by incorporating a greedy selection stage into SDA. This kind of modification can ensure the SDA will remain un-trapped in local optima during the searching process. The algorithm is tested using several benchmark functions and is used to optimize the PD controller of a single link manipulator system. The results show that the algorithm outperforms the SDA and is able to tune PD controller parameters to their optimum value.