Auto-tuning of PID Controllers for Robotic Manipulators Using PSO and MOPSO

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Zidan, Ahmed; Tappe, Svenja; Ortmaier, Tobias: Auto-tuning of PID Controllers for Robotic Manipulators Using PSO and MOPSO. In: Gusikhin, O.; Madani, K. (Eds.): ICINCO 2017 : Informatics in Control, Automation and Robotics. Cham : Springer, 2019 (Lecture Notes in Electrical Engineering ; 495), S. 339-354. DOI:

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Sum total of downloads: 156

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.
License of this version: Es gilt deutsches Urheberrecht. Das Dokument darf zum eigenen Gebrauch kostenfrei genutzt, aber nicht im Internet bereitgestellt oder an Außenstehende weitergegeben werden.
Document Type: ConferenceObject
Publishing status: acceptedVersion
Issue Date: 2019
Appears in Collections:Fakultät für Maschinenbau

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pos. country downloads
total perc.
1 image of flag of United States United States 44 28.21%
2 image of flag of Germany Germany 41 26.28%
3 image of flag of Iran, Islamic Republic of Iran, Islamic Republic of 8 5.13%
4 image of flag of India India 6 3.85%
5 image of flag of China China 6 3.85%
6 image of flag of Russian Federation Russian Federation 5 3.21%
7 image of flag of Japan Japan 5 3.21%
8 image of flag of Vietnam Vietnam 4 2.56%
9 image of flag of Turkey Turkey 4 2.56%
10 image of flag of Czech Republic Czech Republic 3 1.92%
    other countries 30 19.23%

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