Trajectory control and optimization of PID controller parameters for dual-arms with a single-link underwater robot manipulator

摘要

This paper focuses on the modeling, simulation, and control of the trajectories of a dual-arm single-link underwater robot manipulator (DS-URM), having dual arms (left and right) with a single link each. The dynamic coupling between the base and the dual arms makes trajectory control of the end effector difficult. This study attempts to simulate and control dual arms with a single-link underwater robotic manipulator using a hybrid controller. To reduce the error for a sinusoidal wave and a cycloid trajectory, a hybrid controller is the combination of the Proportional-Integral-Derivative (PID) controller and overwhelm controller. The underwater dynamic's buoyancy, gravity, and hydrostatic forces acting on the underwater robot are modeled in an integrated SIMULINK model, including the DS-URM. The DS-URM has been investigated, revealing some significant trajectories of the left and right tips. Effective tuning methods include Ziegler-Nicholas (Z-N), genetic algorithms, Ant Colony Optimization (ACO), and Particle Swarm Optimization (PSO). The Integral of Time multiplied by Absolute Error (ITAE) criteria has been used to improve trajectory tracking via particle swarm optimization. Results show significant improvements in trajectory tracking, with ITAE error reduction by 96.44% and 98.6% for left and right arms, respectively, achieving stability in 0.000645s.