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

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dc.identifier.uri http://dx.doi.org/10.15488/10376
dc.identifier.uri https://www.repo.uni-hannover.de/handle/123456789/10450
dc.contributor.author Zidan, Ahmed eng
dc.contributor.author Tappe, Svenja eng
dc.contributor.author Ortmaier, Tobias eng
dc.date.accessioned 2021-02-04T10:03:21Z
dc.date.available 2021-02-04T10:03:21Z
dc.date.issued 2019
dc.identifier.citation 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: https://doi.org/10.1007/978-3-030-11292-9_17 eng
dc.description.abstract 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. eng
dc.language.iso eng eng
dc.publisher Cham : Springer
dc.rights Es gilt deutsches Urheberrecht. Das Dokument darf zum eigenen Gebrauch kostenfrei genutzt, aber nicht im Internet bereitgestellt oder an Außenstehende weitergegeben werden. eng
dc.subject Robotic manipulators eng
dc.subject PSO eng
dc.subject MOPSO eng
dc.subject PID control eng
dc.subject Automatic tuning eng
dc.subject.ddc 620 | Ingenieurwissenschaften und Maschinenbau
dc.title Auto-tuning of PID Controllers for Robotic Manipulators Using PSO and MOPSO eng
dc.type conferenceObject eng
dc.type Text eng
dc.relation.doi 10.1007/978-3-030-11292-9_17
dc.description.version acceptedVersion eng
tib.accessRights frei zug�nglich eng


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