Real-Time Implementation of an Enhanced PID Controller Based on Ant Lion Optimizer for Micro-Robotics System

摘要

Microparticles have the potentials to be used for many medical purposes in-side the human body such as drug delivery and other operations. This paper offers a comprehensive comparative study of three meta-heuristic search algorithms for controlling the micro-robotics system with a proportional-integral-derivative (PID) controller. Grey Wolf Optimization (GWO), Harmony Search algorithm (HS) and Ant Lion Optimizer (ALO) are the various techniques that this study adopts. The optimum position control can be obtained by employing the former algorithms with different fitness functions, namely Integral Absolute Error (IAE), Integral of Time Multiplied by Square Error (ITSE), Integral Square Time multiplied square Error (ISTES), Integral Square Error (ISE), Integral of Square Time multiplied by square Error ( (ISTSE), and Integral of Time multiplied by Absolute Error (ITAE). In a MATLAB Simulink, each control method was presented, while the experimental measurements were tested and operated by the LabVIEW Software. It is observed that the HS technique achieves the highest values of settling error for both simulation and experimental results among other control approaches, while the ALO approach reduces the settling error by 32.5% compared to former experiments. The results indicate that ALO is the best method among all approaches and that ISTES is the best choice of PID for optimizing the controlling parameters.