Whale optimizer algorithm to tune PID controller for the trajectory tracking control of robot manipulator

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Abstract

In this work, we are interested to the PID control of nonlinear systems and more specially the control of a robot manipulator. The idea is to determine the optimal parameters (Kp, Ki and Kd) of the controller using a novel algorithm of optimization called whale optimizer algorithm (WOA). To study the effectiveness of WOA-PID controller, its performance is compared with other controllers such as particle swarm optimization-PID (PSO-PID) and grey wolf optimizer-PID (GWO-PID). The model of robot manipulator and all controllers were tested using Simulink/MATLAB. Simulation results obtained clearly indicate the superiority of WOA-PID controller over the other controllers for trajectory tracking, better settling time, and ITAE errors.

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Loucif, F., Kechida, S., & Sebbagh, A. (2020, January 1). Whale optimizer algorithm to tune PID controller for the trajectory tracking control of robot manipulator. Journal of the Brazilian Society of Mechanical Sciences and Engineering. Springer. https://doi.org/10.1007/s40430-019-2074-3

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