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Online PID Tuning of a 3-DoF Robotic Arm Using a Metaheuristic Optimisation Algorithm: A Comparative Analysis

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Information and Software Technologies (ICIST 2023)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 1979))

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Abstract

This paper presents a metaheuristic algorithm-based proportional-integral-derivative (PID) controller tuning method for a 3 degrees of freedom (DoF) robotic manipulator. In particular, the War Strategy Optimisation Algorithm (WSO) is applied as a metaheuristic algorithm for PID tuning of the manipulator, and the performance of the controller is compared with Particle Swarm Optimisation (PSO) and Grey Wolf Optimisation (GWO) algorithms. According to the simulation outcomes, the WSO algorithm exhibits superior performance compared to the other two algorithms with respect to settling time, overshoot, and steady-state error. The proposed technique provides an effective approach for enhancing the performance of robotic manipulators and can be extended to other applications that require optimal PID controller tuning.

This work is supported by the Biomechatronics and Collaborative Robotics Group at the Top Research Centre Mechatronics (TRCM), University of Agder, Grimstad, Norway.

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Authors and Affiliations

  1. Department of Engineering Sciences, University of Agder, Grimstad, Norway

    Muhammad Hamza Zafar & Filippo Sanfilippo

  2. National University of Sciences and Technology, Islamabad, Pakistan

    Hassaan Bin Younus & Syed Kumayl Raza Moosavi

  3. Department of Automation, University of Science and Technology of China, Hefei, China

    Majad Mansoor

  4. Department of Software Engineering, Kaunas University of Technology, Kaunas, Lithuania

    Filippo Sanfilippo

Authors
  1. Muhammad Hamza Zafar
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  2. Hassaan Bin Younus
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  3. Syed Kumayl Raza Moosavi
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  4. Majad Mansoor
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  5. Filippo Sanfilippo
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Corresponding author

Correspondence to Filippo Sanfilippo .

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Editors and Affiliations

  1. Kaunas University of Technology, Kaunas, Lithuania

    Audrius Lopata

  2. Kaunas University of Technology, Kaunas, Lithuania

    Daina Gudonienė

  3. Kaunas University of Technology, Kaunas, Lithuania

    Rita Butkienė

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Zafar, M.H., Younus, H.B., Moosavi, S.K.R., Mansoor, M., Sanfilippo, F. (2024). Online PID Tuning of a 3-DoF Robotic Arm Using a Metaheuristic Optimisation Algorithm: A Comparative Analysis. In: Lopata, A., Gudonienė, D., Butkienė, R. (eds) Information and Software Technologies. ICIST 2023. Communications in Computer and Information Science, vol 1979. Springer, Cham. https://doi.org/10.1007/978-3-031-48981-5_3

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  • DOI: https://doi.org/10.1007/978-3-031-48981-5_3

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-48980-8

  • Online ISBN: 978-3-031-48981-5

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