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Whale optimizer algorithm to tune PID controller for the trajectory tracking control of robot manipulator

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Abstract

In this work, we are interested to the PID control of nonlinear systems and more specially the control of a robot manipulator. The idea is to determine the optimal parameters (\(K_{p}, K_{i}\) and \(K_{d}\)) of the controller using a novel algorithm of optimization called whale optimizer algorithm (WOA). To study the effectiveness of WOA-PID controller, its performance is compared with other controllers such as particle swarm optimization-PID (PSO-PID) and grey wolf optimizer-PID (GWO-PID). The model of robot manipulator and all controllers were tested using Simulink/MATLAB. Simulation results obtained clearly indicate the superiority of WOA-PID controller over the other controllers for trajectory tracking, better settling time, and ITAE errors.

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Acknowledgements

Funding was provided by université 8 Mai 1945.

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Authors and Affiliations

  1. Laboratoire d’Automatique et Informatique de Guelma (LAIG), Université 8 Mai 1945, BP 401, 24000, Guelma, Algeria

    Fatiha Loucif, Sihem Kechida & Abdennour Sebbagh

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  1. Fatiha Loucif
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  2. Sihem Kechida
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  3. Abdennour Sebbagh
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Correspondence to Fatiha Loucif.

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Technical Editor: Victor Juliano De Negri, D.Eng.

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Loucif, F., Kechida, S. & Sebbagh, A. Whale optimizer algorithm to tune PID controller for the trajectory tracking control of robot manipulator. J Braz. Soc. Mech. Sci. Eng. 42, 1 (2020). https://doi.org/10.1007/s40430-019-2074-3

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  • DOI: https://doi.org/10.1007/s40430-019-2074-3

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