Designing PID controllers for a five-bar linkage robot manipulator using BBO algorithm

Abstract

This paper introduces a new modified Biogeography-Based Optimization (BBO) algorithm for improving the result of basic algorithm. The modified BBO is employed to tune the PID parameters of a nonlinear five-bar linkage robot. This robot manipulator has nonlinear dynamics with coupling effects. Firstly, the manipulator is linearized and decoupled using the feedback linearization technique. The linearized system is controlled with a PID controller. To illustrate the effictivness of the proposed controller, The simulation results are presented and compared with the conventional artificial intelligence algorithms.