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The mechanical arm control based on harmony search genetic algorithm

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Abstract

Considering the low efficiency and instability of traditional genetic algorithm optimized PID controller, an improved algorithm named harmony search genetic algorithm to optimize PID controller’s parameters of mechanical arm is proposed in this paper. Using harmony search algorithm in the initial population generation process of genetic algorithm improved the algorithm’s performance. Harmony search genetic algorithm is more suitable to optimize PID controller’s parameters than traditional genetic algorithm in six degrees of freedom mechanical arm system. Compared to the traditional control optimization method, as shown in the simulation results, the new kind of optimization method is better in both validity and stability.

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Acknowledgements

This paper is supported by State Key Laboratory of Robotics and Systems (HIT).

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Correspondence to Zhaolan He.

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Cite this article

He, Z., Pan, B., Liu, Z. et al. The mechanical arm control based on harmony search genetic algorithm. Cluster Comput 20, 3251–3261 (2017). https://doi.org/10.1007/s10586-017-1053-7

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Keywords

  • Harmony search algorithm
  • Genetic algorithm
  • Mechanical arm
  • PID control