Swarm Intelligence employs the collective behaviors in the animal societies to design algorithms.

Agents
interact locally with each other and the environment and follow certain rules so as to arrive to the most optimum
solution.

Eric Bonabeau defined Swarm intelligence as

“any attempt to design algorithms or distributed problem-solving devices inspired by the collective
behaviour of social insect colonies and other animal societies”

A Swarm is a configuration of tens of thousands of individuals that have chosen their own will to converge on a
common goal.

Swarm of bees

Two fundamental concepts that are necessary to obtain swarm intelligent behavior: -
 • Self-organization : can be defined as a set of dynamic individuals that work in ally to achieve a
common goal under a set of rules. The rules ensure that the interactions are executed on the
basis of purely local information without any relation to the global pattern.

• Division of Labor: In swarm behavior various tasks are performed simultaneously by specialized
individuals which is specified to as the division of labor. It enables swarm to respond to a
changed condition in the search space specified for them.

Artificial Bee Colony –

ABC has been developed based on the behaviors of real bees on finding nectar and sharing the
information of food sources to the bees in the hive.

Three essential components of this process:

• Food Sources: The value of a food source depends upon its proximity to the hive, its
concentration of its energy and the ease of extracting this energy.

Employed Foragers: They are associated with a particular food source which they are currently
exploiting or are “employed” at. They carry with them information about this particular source,
its distance and direction from the nest, the profitability of the source and share this
information with a certain probability

• Unemployed Foragers: They are continually at look out for a food source to exploit. There are
two types of unemployed foragers: scouts, searching the environment surrounding the nest for
new food sources and onlookers waiting in the nest and establishing a food source through the
information shared by employed foragers.

Key Agents in ABC:

The Employed Bee:

It stays on a food source and provides the neighborhood of the source in its memory.

The Onlooker Bee:

It gets the information of food sources from the employed bees in the hive and select one of the
food source to gathers the nectar.

The Scout:
It is responsible for finding new food, the new nectar, sources.

Exchange of Information among bees:

It is the most important occurrence in the formation of collective knowledge. Dancing Area is the most
important part of the hive with respect to exchanging information. Here communication among bees
related to the food sources quality takes place. This dance is called a Waggle dance. The employed
foragers share the information which they obtain with a probability proportional to the profitability of
the food source, the higher the better and the sharing of this information through waggle dancing takes
a longer duration. The onlookers present on the dance floor watches others dance and decides to
employ herself at the most profitable source. Now we can see that there is a greater probability of
onlookers choosing more profitable sources since more information is accumulated about the higher
profitable sources.

Procedures of ABC:

1. Initialize the scouts (Move the scouts).

2. Deploy the onlookers.

3. Move the scouts only if the counters of the employed bees hit the limit.

4. Update the newly acquired memory

5. Keep hold of the terminational condition

Explanation

 Each cycle of search consists of three steps:

1. Moving the employed and onlooker bees onto the food sources
2. Calculating their nectar amounts
3. Determining the scout bees and directing them onto possible food sources.

 A food source position is a possible optimized solution.

 The amount of nectar of a food source corresponds to the quality of the solution. It holds a
directly proportional relationship.

 Using a probability-based selection process, onlookers are placed on the food sources.

Probability of Selecting a nectar source

P= F/SUM(F);
P: The probability of selecting the employed bee
F: The fitness value

 With the increase of food source in nectar, the probability value with which the food source is
preferred by onlookers increases, too.

 The scouts are characterized by low search costs and a low average in food source quality. One
bee is selected as the scout bee.

 The selection is controlled by a control parameter called "limit".

 If a solution representing a food source is not improved by a predetermined number of trials,

then that food source is abandoned and the employed bee is converted to a scout.
Control Parameters of ABC Algorithm

1. Swarm size / Bees Population

2. Limit

3. number of onlookers: 50% of the swarm

4. number of employed bees: 50% of the swarm

5. number of scouts: 1

Adaptive nature of Artificial Neural Network controllers have made them a major area of interest among
researchers in widespread fields[7-13], mainly because ANN controllers can efficiently learn the
unknown or continuously varying environment and act accordingly. Industrial automation applications
prefer PID (proportional Integral Derivative) controllers because of its simple structure and robustness
etc.

A Neural Network tuned PID (NNPID) which has two inputs, one output and three layers which are input
layer, hidden layer and output layer. The input layer has two neurons and the output layer has one and
their neurons are P-neurons. The hidden layer has three neurons and they are P-neuron (H1), I-neuron
(H2) and D-neuron (H3) respectively. The NNPID is shown in Fig.2 In NNPID when suitable connective
weights are chosen, a NNPID becomes a conventional PID controller.
A well known continuous PID controller is described using

where u is the controller output, KP is the proportional gain, KI is the integral time, KD is the derivative
time, and e is the error between the set point and the process output. For a digital control of ts sampling
periods, we can write

The figure shows the block diagram of the approach followed

w1hj= +1, w2hj= -1, w1ho =KP, w2ho =KI, w3ho =KD

then,

H1i=w1h1I1+ w2h1I2

H2i=w1h2I1+ w2h2I2

H3i=w1h3I1+ w2h3I2

H1i, H2i and H3i are input part of hidden layer nodes. The output of the hidden layer nodes are:

H1o= Terr
H2o=∫ Terr dt

H3o=d Terr /dt then,

O1i= w1hoH1o + w2hoH2o + w3hoH3o

Then the plant with NNPID and feedback is

Back-propagation algorithms: In the present control system, the aim of the NNPID algorithms is to tune
the PID parameters in such a way that the mean square error (MSE) is minimum which is given by

The weights of NNPID are changed by Steepest descent in on-line training process. The details of the
weight adjustments used are as given in reference [5]. The training of the neural network has been done
by varying the PID parameters and taking the sample online. The NNPID was trained with a total of 50
sets of PID parameters each having 360 data points