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Evolutionary Tuning of PID Controllers for a Spatial Cable-Driven Parallel Robot

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Advances in Engineering Research and Application (ICERA 2020)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 178))

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Abstract

The tuning technique of a proportional–integral–derivative (PID) controller for a spatial cable-driven parallel robot by using evolutionary algorithms has not been investigated yet so far. Thus, this study proposes a tuning technique of gains of PID controllers by using three following evolutionary algorithms (EAs): Genetic Algorithm (GA), Particle Swarm Optimization (PSO), and Differential Evolution (DE). The objective function of optimization is the integral of the square error (ISE) and the minimum energy consumption. The performances of these algorithms are studied and are compared to each other based on responses of the end-effector and convergence characteristics of best values, mean values, and standard deviations. The results reveal that all GA, DE, and PSO give good performances. However, PSO and DE are better compared to GA. The GA needs more generations to achieve optimal gains while PSO and DE need less time to find out the optimal gains.

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Acknowledgment

This research was supported by Thai Nguyen University of Technology.

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Authors and Affiliations

  1. Thai Nguyen University of Technology, Thai Nguyen, Vietnam

    Sy Nguyen-Van, Nga Nguyen Thi Thanh & Ngoc Nguyen Dinh

  2. School of Foreign Languages, Thai Nguyen University, Thai Nguyen, Vietnam

    Diem Thi Thu Thuy

Authors
  1. Sy Nguyen-Van
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  2. Diem Thi Thu Thuy
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  3. Nga Nguyen Thi Thanh
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  4. Ngoc Nguyen Dinh
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Corresponding author

Correspondence to Sy Nguyen-Van .

Editor information

Editors and Affiliations

  1. Department of Computer Science and Automation, Ilmenau University of Technology (IUT), Ilmenau, Germany

    Kai-Uwe Sattler

  2. Faculty of Electronic Engineering, Thai Nguyen University of Technology, Thai Nguyen, Vietnam

    Duy Cuong Nguyen

  3. Faculty of Mechanical Engineering, Thai Nguyen University of Technology, Thai Nguyen, Vietnam

    Ngoc Pi Vu

  4. Hanoi University of Science and Technology, Hanoi, Vietnam

    Banh Tien Long

  5. Institute for Automation and Systems Engineering, Ilmenau University of Technology (IUT), Ilmenau, Germany

    Horst Puta

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Nguyen-Van, S., Thuy, D.T.T., Thanh, N.N.T., Dinh, N.N. (2021). Evolutionary Tuning of PID Controllers for a Spatial Cable-Driven Parallel Robot. In: Sattler, KU., Nguyen, D.C., Vu, N.P., Long, B.T., Puta, H. (eds) Advances in Engineering Research and Application. ICERA 2020. Lecture Notes in Networks and Systems, vol 178. Springer, Cham. https://doi.org/10.1007/978-3-030-64719-3_46

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  • DOI: https://doi.org/10.1007/978-3-030-64719-3_46

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-64718-6

  • Online ISBN: 978-3-030-64719-3

  • eBook Packages: EngineeringEngineering (R0)

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