Real-Time Implementation of Tuning PID Controller Based on Whale Optimization Algorithm for Micro-robotics System

摘要

This paper presents a new approach to control the position of the micro-robotics system with a proportional-integral-derivative (PID) controller. By using Whale Optimization Algorithm (WOA), the optimal PID controller indicators were obtained by applying a new objective function namely, integral square time multiplied square error (ISTES). The efficiency of the proposed WOA-based controller was verified by comparisons made with Grey Wolf Optimization (GWO) algorithm-based controllers in terms of time. Each control technique will be applied to the identified model using MATLAB Simulink and the experimental test facility was conducted using LABVIEW software. The simulation and experimental results show that the performance of WOA-PID controller based on ISTES cost function achieves the best performance among various techniques. Moreover, the WOA technique had the highest performance compared to GWO technique based on rising time, setting time and settling error. Thus, it is recommended to apply WOA for tuning the parameters of PID as it can enhance its performance in micro-robotic systems. It was found that the amount of error is reduced by 47.5% using WOA than other former experiments.