Rigid robotic manipulators encounter several challenges in trajectory tracking control, including low accuracy and poor stability, resulting from uncertainties, external disturbances, and parameter variations. To address these issues, this study proposes two hybrid controllers that integrate the strengths of proportional-integral-derivative (PID) control with neural network (NN) methods for a three-link rigid robotic manipulator. These hybrid structures are the NNPID controller and the self-tuning NN with PID (STNNPID) controller. Their performance is compared against that of a conventional PID controller. To optimize control performance metrics, such as the integral time square error (ITSE), the parameters of the proposed controllers were tuned using the African vultures optimization algorithm. MATLAB was used to evaluate the effectiveness. Robustness tests were performed by varying the initial conditions, introducing external disturbances, and modifying system parameters. The NNPID controller achieved ITSE values of 0.28919 104, 0.064321, and 0.001164, respectively, while the STNNPID controller yielded values of 3.54549104, 3.526199, and 0.883710, respectively. Moreover, when all these conditions were applied simultaneously, the NNPID controller achieved an ITSE of 0.073968, compared to 2.672754 for the STNNPID controller. These results demonstrate that the NNPID controller outperforms the other controllers across all testing conditions. These findings confirm that the NNPID controller is the most effective controller in terms of tracking accuracy, stability, and robustness across all test scenarios.
Oleiwi et al. (Thu,) studied this question.