Design and Evaluation of a TIDDD Controller with Gorilla Troops Optimization in FES Systems
9th International Symposium on Innovative Approaches in Smart Technologies, ISAS 2025, Gaziantep, Turkey, 27 - 28 June 2025, (Full Text)
- Publication Type: Conference Paper / Full Text
- Doi Number: 10.1109/isas66241.2025.11101880
- City: Gaziantep
- Country: Turkey
- Keywords: Functional electrical stimulation, Gorilla Troops Optimization, ITAE criterion, TIDDD controller
- Karadeniz Technical University Affiliated: Yes
Abstract
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.