Whale optimizer algorithm to tune PID controller for the trajectory tracking control of robot manipulator

被引：45

作者：

Loucif, Fatiha ^{[1
]}

Kechida, Sihem ^{[1
]}

Sebbagh, Abdennour ^{[1
]}

机构：

[1] Univ 8 Mai 1945, LAIG, BP 401, Guelma 24000, Algeria

来源：

JOURNAL OF THE BRAZILIAN SOCIETY OF MECHANICAL SCIENCES AND ENGINEERING | 2020年 / 42卷 / 01期

关键词：

Evolutionary algorithm; PID control; Optimization algorithm; Robot manipulator; CONTROL LAW; FEEDBACK;

D O I：

10.1007/s40430-019-2074-3

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

In this work, we are interested to the PID control of nonlinear systems and more specially the control of a robot manipulator. The idea is to determine the optimal parameters (K-p,K-i and K-d) of the controller using a novel algorithm of optimization called whale optimizer algorithm (WOA). To study the effectiveness of WOA-PID controller, its performance is compared with other controllers such as particle swarm optimization-PID (PSO-PID) and grey wolf optimizer-PID (GWO-PID). The model of robot manipulator and all controllers were tested using Simulink/MATLAB. Simulation results obtained clearly indicate the superiority of WOA-PID controller over the other controllers for trajectory tracking, better settling time, and ITAE errors.

引用

页数：11

共 42 条

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