Optimization of PID trajectory tracking controller for a 3-DOF robotic manipulator using enhanced Artificial Bee Colony algorithm

Azeez, Muhammad I.; Abdelhaleem, A. M. M.; Elnaggar, S.; Moustafa, Kamal A. F.; Atia, Khaled R.

doi:10.1038/s41598-023-37895-3

Cited by 4 publications

(1 citation statement)

References 43 publications

(70 reference statements)

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“…These enhancements are guided by specific timedomain criteria, which include settling time, undershoot, overshoot, recovery time, and steadystate error. Assessment of the motor's performance entails metrics such as root mean squared error, integral of absolute error, multiplied time integral of absolute error, and integral of squared error [9].…”

Section: Introductionmentioning

confidence: 99%

A Method of Anti-Windup PID Controller for a BLDC-Drive System

Argaloka,

Aptadarya,

Arentaka

et al. 2023

JMECS

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This research aims to enhance control systems for Brushless DC (BLDC) motors by introducing Proportional-Integral-Derivative (PID) control as a straightforward yet reliable solution, known for its precision, quick responsiveness, and stability. Emphasizing its suitability for BLDC motor speed control, the study addresses PID controller windup challenges, highlighting anti-windup techniques crucial for maintaining system stability. The primary focus is on improving the performance of an anti-windup PID controller for BLDC motor speed control in electric vehicles. Through simulations and analyses, the research aims to minimize steady-state error and overshooting, contributing to overall operational efficiency. Practical implementation involves optimizing the PID anti-windup controller's gain using the MATLAB PID Tuner and implementing it in the Arduino IDE. Experimental tests, which cover constant and varying step function scenarios, are conducted on the designed hardware. Results show the PID anti-windup controller's superiority, exhibiting significantly lower overshoot values of 5.42% and 3.35% compared to 13.26% and 23.76%, respectively. Despite its higher control action, the traditional PID controller displays a more pronounced overshoot. This research is a significant step toward advancing control systems for electric vehicles and optimizing BLDC motor performance in practical applications.

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Section: Introductionmentioning

confidence: 99%

A Method of Anti-Windup PID Controller for a BLDC-Drive System

Argaloka,

Aptadarya,

Arentaka

et al. 2023

JMECS

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Enhancing robustness and noise rejection in flexible joint manipulators: an optimized sliding mode controller with enhanced gray wolf optimization for trajectory tracking

Azeez,

Elnaggar,

Abdelhaleem

et al. 2023

J Braz. Soc. Mech. Sci. Eng.

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The objective of this study is to enhance the performance of a nonlinear three-rigid-link manipulator (RLM) with a focus on trajectory tracking, robustness against disturbances and noises, and adaptability to joint flexibility. To achieve this, we have employed an optimized sliding mode controller with a proportional integral derivative (PID) sliding manifold. The tuning process involves selecting the critical gains of the controller that minimizes the integral time absolute error (ITAE), serving as the objective function (OBJF) to optimize the performance of the robot manipulator. To identify the optimal gains of the controller, we have utilized a new optimization algorithm known as memory enhanced linear population size reduction gray wolf optimization (MELGWO). The efficacy of this algorithm is compared to other existing optimization methods in the literature. Moreover, this research has delved into the impact of joint flexibility on the robot system’s performance. Encouragingly, the results demonstrate that the optimized SMC–PID with MELGWO adaptation can effectively address joint flexibility while maintaining acceptable performance levels.

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Modeling of PID controlled 3DOF robotic manipulator using Lyapunov function for enhancing trajectory tracking and robustness exploiting Golden Jackal algorithm

Azeez,

Atia

2024

ISA Transactions

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Optimization of PID trajectory tracking controller for a 3-DOF robotic manipulator using enhanced Artificial Bee Colony algorithm

Cited by 4 publications

References 43 publications

A Method of Anti-Windup PID Controller for a BLDC-Drive System

A Method of Anti-Windup PID Controller for a BLDC-Drive System

Enhancing robustness and noise rejection in flexible joint manipulators: an optimized sliding mode controller with enhanced gray wolf optimization for trajectory tracking

Modeling of PID controlled 3DOF robotic manipulator using Lyapunov function for enhancing trajectory tracking and robustness exploiting Golden Jackal algorithm

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