NDLI: Optimal control of multi-axis robotic system using Particle Swarm Optimization

Content Provider	IEEE Xplore Digital Library
Author	Aftab, M. Shadab, M. Santosh, P. Sadaf, P. Taili, J.
Copyright Year	2013
Description	Author affiliation: Dept. of Electron. Eng., M.H. Saboo Siddik Coll. of Eng., Mumbai, India (Aftab, M.; Shadab, M.; Santosh, P.; Sadaf, P.; Taili, J.)
Abstract	Optimization is a mathematical technique that concerns the finding of maxima or minima of functions in some feasible region. There is no business or industry which is not involved in solving optimization problems. A variety of optimization techniques compete for the best solution. Particle Swarm Optimization (PSO) is a relatively new, modern and powerful method of optimization that has been empirically shown to perform well on many of these optimization problems. This paper presents an application of `Particle Swarm Optimization (PSO)' for tuning the parameters of PID controller to achieve system stability. Here the system is two axis robotic arm. PSO algorithm will search for best possible PID controller parameters within its three dimension space of $K_{p},$ $K_{i},$ $K_{d}.$ Optimization of peak overshoot $(M_{p})$ and settling time $(t_{s})$ is achieved by using a multi-purpose performance criterion (MPPC). The system is stabilized by minimizing the performance criterion. This paper presents simulation results using MATLAB Simulink to demonstrate tuning of PID controller using PSO along with MPPC gives minimum $M_{p}$ and $t_{s}.$
Starting Page	1
Ending Page	6
File Size	1361901
Page Count	6
File Format	PDF
e-ISBN	9781479922758
DOI	10.1109/INDCON.2013.6726104
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-12-13
Publisher Place	India
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robotic Arm Service robots Transfer functions Process control Multi Purpose Performance Crieterion PID Mathematical model Particle swarm optimization PSO Optimization
Content Type	Text
Resource Type	Article

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