Intelligent Tuning of PID Controller for Double-Link Flexible Robotic Arm Manipulator by Artificial Bee Colony Algorithm

2020 ◽  
pp. 533-547
Author(s):  
A. Jamali ◽  
I. Z. Mat Darus ◽  
M. H. A. Talib ◽  
H. M. Yatim ◽  
M. S. Hadi ◽  
...  
Keyword(s):  
Pid Controller ◽  
Artificial Bee Colony Algorithm ◽  
Artificial Bee Colony ◽  
Robotic Arm ◽  
Bee Colony

Optimal Tuning of Robust Controller Based on Artificial Bee Colony Algorithm

2012 ◽  
Vol 562-564 ◽  
pp. 1668-1672 ◽  
Author(s):  
Kun Xu ◽  
Ming Yan Jiang
Keyword(s):  
Pid Controller ◽  
Artificial Bee Colony Algorithm ◽  
Artificial Bee Colony ◽  
Proportional Integral Derivative ◽  
Robust Controller ◽  
Optimal Tuning ◽  
Bee Colony ◽  
Constraint Factors ◽  
Controller Performance ◽  
Swarm Intelligence Algorithm

Artificial bee colony algorithm (ABCA) is a novel swarm intelligence algorithm for global optimization. An efficient method based on ABCA is proposed for optimal tuning of robust proportional-integral-derivative (PID) controller in this paper. A multi-objective optimization is applied to balance several constraint factors of controller. Performance of robust PID controller is evaluated by a three-order and time-delay transfer function with 40%, 50% and 60% uncertainty, respectively. Simulation result clearly demonstrates that the designed controller can obtain an optimal tuning and endure parameter fluctuation. From comparisons of robust PID controller in different uncertainties, a conclusion can be obtained that performance of robust PID controller will be worse as the uncertainty increases, even obtain a divergent solution when the uncertainty is more than 60%.

scholarly journals Optimal PID controller design using artificial bee colony algorithm for robot arm

2021 ◽  
Vol 21 (1) ◽  
pp. 84
Author(s):  
Ghassan A. Sultan ◽  
Muhammed K. Jarjes
Keyword(s):  
Pid Controller ◽  
Artificial Bee Colony Algorithm ◽  
Artificial Bee Colony ◽  
Controller Design ◽  
Dynamic Performance ◽  
Control Process ◽  
Robot Arm ◽  
Bee Colony ◽  
Pid Controller Design ◽  
Best Parameter

<p class="Default"><span>Proportional integral derivation (PID) controller is used in this paper for optimal design, and tuning by zeigler and nichol (ZN) with artificial bee colony algorithm. The best parameter were found using these algorithms for best performance of a robot arm. The advantage of using ABC were highlighted. The controller using the new algorithm was tested for valid control process. Different colony size has been performed for tuning process, settling time, from time domain performance, rise time, overshot, and steady state error with ABC tuning give better dynamic performance than controller using the (ZN).</span></p>

scholarly journals Novel PID Tracking Controller for 2DOF Robotic Manipulator System Based on Artificial Bee Colony Algorithm

2017 ◽  
Vol 13 (1) ◽  
pp. 55-62 ◽  
Author(s):  
Nasr A. Elkhateeb ◽  
Ragia I. Badr
Keyword(s):  
Artificial Bee Colony Algorithm ◽  
Artificial Bee Colony ◽  
External Disturbance ◽  
Dynamical Analysis ◽  
Robotic Arm ◽  
Robot Arm ◽  
Joint Torques ◽  
Bee Colony ◽  
Optimal Pid Control ◽  
Optimization Methodology

Abstract This study presents a well-developed optimization methodology based on the dynamic inertia weight Artificial Bee Colony algorithm (ABC) to design an optimal PID controller for a robotic arm manipulator. The dynamical analysis of robotic arm manipulators investigates a coupling relation between the joint torques applied by the actuators and the position and acceleration of the robot arm. An optimal PID control law is obtained from the proposed (ABC) algorithm and applied to the robotic system. The designed controller optimizes the trajectory of the robot’s end effector for a time-variant input and makes the robot robust in the presence of external disturbance.

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