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Real-Time Implementation of Tuning PID Controller Based on Whale Optimization Algorithm for micro-robotics System 14

Real-Time Implementation of Tuning PID Controller Based on W...

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14th International Conference on Computer and Automation Engineering (ICCAE)

作者： Ghith, Ehab Seif Tolba, Farid Abdel Aziz Ain Shams Univ Fac Engn Dept Mechatron Cairo Egypt

ISBN: (纸本)9781665483797

This paper presents a new approach to control the position of the micro-robotics system with a proportional-integral-derivative (PID) controller. By using Whale Optimization Algorithm (WOA), the optimal PID controller indicators were obtained by applying a new objective function namely, integral square time multiplied square error (ISTES). The efficiency of the proposed WOA-based controller was verified by comparisons made with Grey Wolf Optimization (GWO) algorithm-based controllers in terms of time. Each control technique will be applied to the identified model using MATLAB Simulink and the experimental test facility was conducted using LABVIEW software. The simulation and experimental results show that the performance of WOA-PID controller based on ISTES cost function achieves the best performance among various techniques. Moreover, the WOA technique had the highest performance compared to GWO technique based on rising time, setting time and settling error. Thus, it is recommended to apply WOA for tuning the parameters of PID as it can enhance its performance in micro-robotic systems. It was found that the amount of error is reduced by 47.5% using WOA than other former experiments.

关键词： PID Controller micro-particles robotics Grey Wolf Optimization Sparrow Search Algorithm Minimally invasive surgery

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Real-Time Implementation of an Enhanced PID CONTROLLER based on Marine Predator Algorithm (MPA) for micro-robotics System 3

Real-Time Implementation of an Enhanced PID CONTROLLER based...

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3rd International Conference on Artificial Intelligence, robotics and Control (AIRC)

作者： Ghith, Ehab Seif Tolba, Farid Abdel Aziz Ain Shams Univ Fac Engn Dept Mechatron Cairo Egypt

ISBN: (数字)9781665459471

ISBN: (纸本)9781665459471

This paper presents a new approach to control the position of the micro-robotics system with a proportional-integral-derivative (PID) controller. By using Marine Predator algorithm (MPA), the optimal PID controller indicators were obtained by applying a new objective function namely, integral square time multiplied square error (ISTES). The efficiency of the proposed MPA-based controller was verified by comparisons made with Grey Wolf Optimization (GWO) algorithm-based controllers in terms of time. Each control technique will be applied to the identified model using MATLAB Simulink and the experimental test facility was conducted using LABVIEW software. The simulation and experimental results show that the performance of MPA-PID controller based on ISTES cost function achieves the best performance among various techniques. Moreover, the MPA technique had the highest performance compared to GWO technique based on rising time, settling time and settling error. Thus, it is recommended to apply MPA for tuning the parameters of PID as it can enhance its performance in micro-robotic systems. It was found that the amount of error is reduced by 33.75% using MPA than other former experiments

关键词： PID Controller micro-particles robotics Grey Wolf Optimization Marine Predator Algorithm Minimally invasive surgery

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