A Practical Approach for the Auto-tuning of PD Controllers for Robotic Manipulators using Particle Swarm Optimization

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dc.identifier.uri http://dx.doi.org/10.15488/10375
dc.identifier.uri https://www.repo.uni-hannover.de/handle/123456789/10449
dc.contributor.author Zidan, Ahmed eng
dc.contributor.author Kotlarski, Jens eng
dc.contributor.author Ortmaier, Tobias eng
dc.date.accessioned 2021-02-04T09:25:08Z
dc.date.available 2021-02-04T09:25:08Z
dc.date.issued 2017
dc.identifier.citation Zidan, Ahmed; Kotlarski, Jens; Ortmaier, Tobias: A Practical Approach for the Auto-tuning of PD Controllers for Robotic Manipulators using Particle Swarm Optimization. In: ICINCO 2017 : Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics – Volume 2 (ICINCO). Setúbal, Portugal : SciTePress, 2017, S. 34-40. DOI: https://doi.org/10.5220/0006419700340040 eng
dc.identifier.isbn 978-989-758-264-6
dc.description.abstract An auto-tuning method of PD controllers for robotic manipulators is proposed. This method suggests a practical implementation of the particle swarm optimization technique in order to find optimal gain values achieving the best tracking of a predefined position trajectory. For this purpose, The integral of the absolute error IAE is used as a cost function for the optimization algorithm. The optimization is achieved by performing the desired movement of the robot iteratively and evaluating the cost function for every iteration. Therefor, the necessary constraints that guarantee a safe and stable movement of the robot are defined, which are: a maximum joint torque constraint, a maximum position error constraint and an oscillation constraint. A constraint handling approach is suggested for the optimization algorithm in order to adapt it to the problem in hand. Finally, the efficiency of the proposed method is verified through a practical experiment on a real robot. eng
dc.language.iso eng eng
dc.publisher Setúbal, Portugal : SciTePress
dc.rights CC BY-NC-ND 4.0 Unported eng
dc.rights.uri https://creativecommons.org/licenses/by-nc-nd/4.0/ eng
dc.subject Robotic Manipulators eng
dc.subject Particle Swarm Optimization eng
dc.subject PD Control eng
dc.subject Automatic Tuning eng
dc.subject.ddc 620 | Ingenieurwissenschaften und Maschinenbau eng
dc.title A Practical Approach for the Auto-tuning of PD Controllers for Robotic Manipulators using Particle Swarm Optimization eng
dc.type conferenceObject eng
dc.type Text eng
dc.relation.doi 10.5220/0006419700340040
dc.description.version acceptedVersion eng
tib.accessRights frei zug�nglich eng


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