Design of PID controller for robot arm based on genetic algorithm and fuzzy theory

Yanting Yu; Meili Song; Zheng Chen; Hongbo Wu; Haonan Ouyang

doi:10.1117/12.3030209

5 June 2024 Design of PID controller for robot arm based on genetic algorithm and fuzzy theory

Yanting Yu, Meili Song, Zheng Chen, Hongbo Wu, Haonan Ouyang

Proceedings Volume 13163, Fourth International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2024); 131631C (2024) https://doi.org/10.1117/12.3030209
Event: International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2024), 2024, Xi'an, China

Abstract

In order to realize the precise control of the manipulator, a control method of the manipulator based on genetic algorithm and fuzzy theory is proposed. The manipulator control model was obtained through ADAMS and Simulink co-simulation. The genetic algorithm is optimized by PID parameters on the basis of classical PID control, and a fuzzy controller was introduced into the optimized control system to carry out secondary optimization of the control model, and the control model before and after optimization was simulated and analyzed. The results show that the maximum overshoot of the controller optimized by the genetic algorithm is 8.06%, while the maximum overshoot of the fuzzy PID controller after secondary optimization is 5.01%. Compared with the two methods, we can see the control system after the second optimization has better stability and a better trajectory tracking effect.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Yanting Yu, Meili Song, Zheng Chen, Hongbo Wu, and Haonan Ouyang "Design of PID controller for robot arm based on genetic algorithm and fuzzy theory", Proc. SPIE 13163, Fourth International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2024), 131631C (5 June 2024); https://doi.org/10.1117/12.3030209

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