Design and Evaluation of a TIDDD Controller with Gorilla Troops Optimization in FES Systems

Heybetli F., AYAS M. Ş.

9th International Symposium on Innovative Approaches in Smart Technologies, ISAS 2025, Gaziantep, Türkiye, 27 - 28 Haziran 2025, (Tam Metin Bildiri) identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Doi Numarası: 10.1109/isas66241.2025.11101880
  • Basıldığı Şehir: Gaziantep
  • Basıldığı Ülke: Türkiye
  • Anahtar Kelimeler: Functional electrical stimulation, Gorilla Troops Optimization, ITAE criterion, TIDDD controller
  • Karadeniz Teknik Üniversitesi Adresli: Evet

Özet

Functional Electrical Stimulation (FES) plays a critical role in neurorehabilitation by enabling motor function in individuals with paralysis or neurological disorders. In this study, a mathematical model of the FES system is developed and simulated within the MATLAB/Simulink environment. For the control of the system, a novel controller architecture known as the Tilt-Integral-Triple Derivative (TIDDD) controller - an extended form of the TID (Tilt-Integral-Derivative) controller - is proposed. The controller parameters are optimized using the Gorilla Troops Optimization (GTO) algorithm, a natureinspired metaheuristic approach. The performance of the proposed control strategy is evaluated using the Integral of Time-weighted Absolute Error criterion as the objective function. Comparative analysis with existing studies demonstrated that the proposed TIDDD-GTO approach significantly improves system performance and offers an effective control solution for the FES applications.