Position ControlOf Robot ArmUsing Genetic Algorithm Based PID Controller

Abstract

It is known that PID controller is used in every facet of industrial automation. The application of PID controller span from small industry to high technology industry. The aim of this paper is to design a position controller of a robot arm by selection of a PID parameters using genetic algorithm. The model of a robot arm is considered a third order system. And this paper compares two kinds of tuning methods of parameter for PID controller. One is the controller design by the genetic algorithm, second is the controller design by the Ziegler and Nichols method. It was found that the proposed PID parameters adjustment by the genetic algorithm is better than the Ziegler & Nichols' method. The proposed method could be applied to the higher order system also.

Quadrotor Control Using Advanced Control Techniques

“…The aim of PID is to design a position and attitude controller of a quadrotor by selection of a PID parameters gains k p , k d and k i using genetic algorithm, where GA is an optimization method depend on the mechanisms of natural selection [15].…”

Comparative Study of Different Control Techniques Applied on 6 Dof Robot Arm

“…The direct action sort replaces the PID control with a feedback control loop to compute the action through fuzzy reasoning where the control actions are resolved directly by means of a fuzzy inference. These sorts of fuzzy controllers are also called PIDlike controllers [19,21]. On the other hand, the fuzzy PID type attempts to give nonlinear action for the controller output utilizing fuzzy reasoning where the PID gains are tuned based on a fuzzy inference system rather than the traditional methodologies.…”

“…Ziegler-Nichols method was introduced as the conventional method for tuning the PID controller, but the enhancement of the response time-domain specifications by using this method is not sufficient. Recently, fuzzy logic with PID-controller [21] or without PIDcontroller [7,8] and genetic algorithm with PID-controller [9] are also introduced to obtain suitable time-domain specifications of the response. This paper deals with controlling 6 DOF robot arm such that the arm can follow any predefined path.…”

Trajectory Tracking Control for Robot Manipulator using Fractional Order-Fuzzy-PID Controller

“…The control law is given by: Where q d (t) and (t) denote the desired joint positions and velocities; q a (t) and (t) denote the actual joint positions and velocities; k p , k d and k i represent the proportional, integral, and derivative gains, respectively. The purpose of PID control is to design a position controller of a robot arm by selecting the PID parameters gains k p , k d and k i using genetic algorithm GA [6]. GA is a useful optimization method to be used in situations involving non-linearities and local minima, consisting essentially of a refined trial-and-error that imitates the evolutionary principle of the survival of the fittest [8].…”