Designing a Metaheuristic Multi-objective Fractional-order PID Controller for TRMS system

O Optimization is a process that has long been considered by researchers in various fields and its methods have been utilized to increase productivity while reducing costs. Moreover, it is essential to achieve simultaneously several contradictory goals. In control engineering, optimizing controller parameters to attain several different goals could be considered as a significant challenge. In this paper, a fractional-order PID controller is designed for a training helicopter with two DC motors, called Twin-Rotor Multi Input Multi Output System (TRMS). The design of this controller is based on the optimization of different objective functions with metaheuristic multi-objective optimization algorithms. Finally, their Pareto front and different evaluation criteria such as Spacing Metric and Non- uniformity of Pareto Front are employed to compare the performance of these algorithms for optimization of controller parameters on the decoupled TRMS system. The results show the superiority of the proposed multi-objective fractional-order PID controller for the TRMS system.