Bee Algorithm Based Control Design for Two-links Robot Arm Systems

Abstract

This paper presents a comparative study between two advance versions of the classical Proportional-Integral-Derivative (PID) controller including the Proportional Integral minus Proportional Derivative (PI-PD) controller and the Nonlinear Proportional Derivative (NPD) to manipulate the position of the two angulars of the two-links robot arm system and eliminate the effects of the load disturbances. The dynamic equations of the two-links robot arm system are obtained based on the Lagrange approach. To determine the best value of the adjustable coefficients of each controller, tuning process is converted to an optimization problem. Then, Bee Algorithm (BA) optimization technique is employed to find the best value of the adjustable coefficients of each controller. The computer simulation results based on MATLAB show the NPD-BA controller is outperform the PI-PD-BA controller in normal condition works. Furthermore, the NPD-BA demonstrates a substantial enhancement when the load disturbance is applied.