Using a Particle Swarm Optimization - based PID Controller for Tuning the PUMA 560 Robot

Abstract

PID controllers are applied widely in industry. Ziegler-Nichols algorithms are often used to adjust certain
controllers. However, this method cannot achieve optimal coefficients of Kp, Ki, Kd due to the influence of the
error of the measuring devices and interference from system disturbances. From there, the designer needs to
select the appropriate parameters of the controller that is not easy to reach the optimal values and requires
experience of the designer. So, this study proposes a method to determine the optimal coefficients of Kp, Ki, Kd
around the operating point of the PID controller by using a particle swarm optimization algorithm. Simulation
results show that the algorithm has perform effectively in finding optimum coefficients satisfying the control
quality criteria such as small steady-state error and fast response time.