Design and Optimization of PID Controller using Various Algorithms for Micro-Robotics System

摘要

Microparticles have the potentials to be used for many medical purposes in-side the human body such as drug delivery and other operations. This paper attempts to provide a thorough comparison between five meta-heuristic search algorithms: Sparrow Search Algorithm (SSA), Flower Pollination Algorithm (FPA), Slime Mould Algorithm (SMA), Marine Predator Algorithm (MPA), and Multi-Verse Optimizer (MVO). These approaches were used to calculate the PID controller optimal indicators with the application of different functions, including Integral Absolute Error (IAE), Integral of Time Multiplied by Square Error (ITSE), Integral Square Time multiplied square Error (ISTES), Integral Square Error (ISE), Integral of Square Time multiplied by square Error (ISTSE), and Integral of Time multiplied by Absolute Error (ITAE). Every method of controlling was presented in a MATLAB Simulink numerical model, and LABVIEW software was used to run the experimental tests. It is observed that the MPA technique achieves the highest values of settling error for both simulation and experimental results among other control approaches, while the SSA approach reduces the settling error by 50% compared to former experiments. The results indicate that SSA is the best method among all approaches and that ISTES is the best choice of PID for optimizing the controlling parameters.