An Application to Robot Manipulator Joint Control by Using Constrained PID Based PSO

摘要

This paper introduces a new methodology for PID control tuning. The proposed method is based on particle swarm optimization. In oder to deal with the limitation of the real process and to generate feasible solutions for industrial applications, constrained control effort is introduced into the objective formulation function. For validation, the proposed algorithm has been tested on a manipulator robot. The tuning of the PID controller is formulated as an optimization problem with the aim of optimizing two or more objective functions while satisfying several inequality constraints. By using this approach, the developed algorithm will facilitate the convergence to an optimal controller and thus to an increased performance. The experimental results indicate that the new approach is suitable for control of complex system.