Optimal PID Controller Design using Artificial Bee Colony Algorithm for Robot Arm

Ghassan Ahmed Kassab

Abstract


Proportional integral derivation (PID) controller is used in this paper for optimal design, and tuning by Zeigler and Nichol (ZN) with artificial bee colony algorithm. The best parameter were found using these algorithms for best performance of a robot arm. The advantage of using ABC were highlighted. The controller using the new algorithm was tested for valid control process. Different colony size has been performed for tuning process, settling time, from time domain performance, rise time, overshot, and steady state error with ABC tuning give better dynamic performance than controller using the (ZN).


Keywords


Robot arm. Artificial Bee Colony Optimization (ABC). PID controller. Ziegler-Nichols (ZN)Method

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DOI: http://doi.org/10.11591/ijeecs.v21.i1.pp%25p
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