Optimized PID Controller based on Artificial Bee Colony Algorithm for Robot Arm
DOI:
https://doi.org/10.26821/IJSHRE.10.1.2022.100102Keywords:
Robot arm, Artificial Bee Colony (ABC), PID controller, Ziegler-Nichols (ZN) MethodAbstract
In this paper, an efficient method based on Artificial Bee Colony (ABC) metheuristic is implemented for tuning PID controllers In this paper, an efficient method based on Artificial Bee Colony (ABC) metaheuristic is implemented for tuning PID controllers In this paper, an efficient method based on Artificial Bee Colony (ABC) metaheuristic is implemented for tuning PID controllers. In this paper, an efficient method based on Artificial Bee Colony (ABC) metaheuristic is implemented for tuning PID controllers.
This paper deals with design and optimization of a proportional, integral and derivative (PID) controller tuned by Ziegler-Nichols method (ZN) by using artificial bee colony (ABC) optimization algorithm. This algorithm was used to find the optimal parameters of the controller to have optimal performance of a robot arm. A comparative study has been made to highlight the advantage of using ABC-based controller over a ZN-based controller. The validity of the controller tuning algorithms was tested in process control where the optimal tuning procedure of PID controller has also been performed by ABC with different colony sizes. From the perspectives of time-domain performance criteria, such as rise time, overshoot, settling time and steady-state error, the controller tuned by ABC gives better dynamic performances than controllers tuned by the ZN.
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