Journal
JOURNAL OF THE BRAZILIAN SOCIETY OF MECHANICAL SCIENCES AND ENGINEERING
Volume 42, Issue 1, Pages -Publisher
SPRINGER HEIDELBERG
DOI: 10.1007/s40430-019-2074-3
Keywords
Evolutionary algorithm; PID control; Optimization algorithm; Robot manipulator
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Funding
- universite 8 Mai 1945
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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.
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