Page 172 - IJOCTA-15-1

An International Journal of Optimization and Control: Theories & Applications
ISSN: 2146-0957 eISSN: 2146-5703
Vol.15, No.1, pp.166-182 (2025)
https://doi.org/10.36922/ijocta.1620

RESEARCH ARTICLE

Recent metaheuristics on control parameter determination

1*
2
Yagmur Olmez , Gonca Ozmen Koca , Zuhtu Hakan Akpolat 3
1 Department of Electrical and Electronics Engineering, Faculty of Engineering and Natural Sciences, Malatya
Turgut Ozal University, Malatya, Turkiye
2 Department of Mechatronics Engineering, Faculty of Technology, University of Firat, Elazig, Turkiye
3 Department of Electrical Electronics Engineering, Faculty of Engineering, Fatih Sultan Mehmet Vakif
University, Istanbul, Turkiye
yagmur.olmez@ozal.edu.tr, gozmen@firat.edu.tr, zhakpolat@fsm.edu.tr

ARTICLE INFO ABSTRACT

Article History: Metaheuristics have been widely used in recent years for tuning control pa-
Received: 27 May 2024 rameters since they have a simple structure, are easy to apply, and provide
Accepted: 14 December 2024 efficient solutions. In this study, control of a two-wheeled mobile robot using
Available Online: 31 January 2025 the inverted pendulum principle is proposed. The performances of nine recent
metaheuristics (Political Optimizer, Equilibrium Optimizer, Aquila Optimizer,
Keywords:
Flow Directional Algorithm, Cheetah Optimizer, Golden Jackal Optimizer,
Metaheuristics
Artificial Rabbit Optimization, Gazelle Optimizer, and Pelican Optimization)
Optimal control
have been investigated for the balancing and speed control of a two-wheeled
PI control
vehicle. In this context, a framework consisting of two cascaded PI controllers
Two-wheeled robot
is designed to provide balance and speed control of the two-wheeled vehicle.
AMS Classification 2010: The performances of the recent metaheuristics are also compared with pre-
13P25, 47N10 viously introduced effective metaheuristic algorithms for further evaluation.
The parameters of the controllers are tuned by using these metaheuristics. In
experimental studies, quantitative and qualitative analyses are performed for
evaluation of the metaheuristics. The dynamic system properties, convergence
curves, computational times, and statistical results are provided to prove op-
timal control performances. The results show that 11 out of 14 compared
algorithms produce similar optimal results in speed and balance control of the
two-wheeled vehicle. The rest of them do not provide satisfactory results for
the tuning of optimum control parameters of the two-wheeled vehicle.

1. Introduction planning, 10 signal processing, 11 control systems
and applications 12 and so on. The most common
use of these methods in the field of control sys-
Metaheuristic methods play a crucial role in a
tems is the determination of the controller param-
broad range of applications across various dis-
eters. These algorithms offer powerful optimiza-
ciplines. These algorithms offer powerful op-
tion techniques that can effectively search for op-
timization strategies that may effectively solve
timal solutions in complex and high-dimensional
complex and difficult issues. The metaheuris-
parameter spaces. Since determining the pa-
tics are commonly utilized in the areas such
as machine learning, feature selection, 1,2 en- rameters of control systems is a time-consuming
gineering design, 3-7 image processing, 8,9 path and challenging process, the use of metaheuristic
*Corresponding Author
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