PSO-Based PID Controller Design for RR Robot Manipulator Considering Saturated Control

Proportional-Integral-Derivative (PID) control schemes go on to give the simplest and yet effectual results to most of the control engineering applications today. A large amount of robots in the industries are controlled using PID controllers. However, most of the motions are compound and nonlinear in nature resulting into their poor performance when controlled by traditional tuned PID controllers. PID controllers are poorly tuned in practice with most of the tuning done manually which is difficult and time consuming. The requirement for improved performance of the control has led to the development of optimal controllers. Particle Swarm Optimization (PSO) is an evolutionary algorithm that is widely used in this respect. These advanced techniques to design industrial control systems are, in general, dependent on achieving optimum performance with the controller when facing with various types of disturbance that are unknown in most practical applications. In this paper PSO is planned to improve the performance of a two link robot with saturated Inputs. The results obtained reflect that using of PSO-based controllers improves the performance of the objective function in terms of time domain specification and also provides an optimum stability.

Keywords:

PID Tuning , Particle Swarm Optimization (PSO) , Robot manipulators , two links RR Robot , Nonlinear control