Auto-tuning of PID Controllers for Robotic Manipulators Using PSO and MOPSO
| Autor: | Ahmed Zidan, Tobias Ortmaier, Svenja Tappe |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
Computer science
020208 electrical & electronic engineering Work (physics) Dewey Decimal Classification::600 | Technik::620 | Ingenieurwissenschaften und Maschinenbau PSO PID controller 02 engineering and technology Constraint (information theory) MOPSO Rate of convergence Control theory Position (vector) PID control 0202 electrical engineering electronic engineering information engineering Torque Robot 020201 artificial intelligence & image processing Robotic manipulators ddc:620 Global optimization Automatic tuning |
| Zdroj: | Informatics in Control, Automation and Robotics ISBN: 9783030112912 ICINCO (Selected Papers) |
| DOI: | 10.1007/978-3-030-11292-9_17 |
| Popis: | This work proposes two approaches to automatic tuning of PID position controllers based on different global optimization strategies. The chosen optimization algorithms are PSO and MOPSO, i. e. the problem is handled as a single objective problem in the first implementation and as a multiobjective problem in the second one. The auto-tuning is performed without assuming any previous knowledge of the robot dynamics. The objective functions are evaluated depending on real movements of the robot. Therefore, constraints guaranteeing safe and stable robot motion are necessary, namely: a maximum joint torque constraint, a maximum position error constraint and an oscillation constraint. Because of the practical nature of the problem in hand, constraints must be observed online. This requires adaptation of the optimization algorithm for reliable observance of the constraints without affecting the convergence rate of the objective function. Finally, Experimental results of a 3-DOF robot for different trajectories and with different settings show the validity of the two approaches and demonstrate the advantages and disadvantages of every method. |
| Databáze: | OpenAIRE |
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