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This is a Quantitative Study study.

September 23, 2025

Self-tuning intelligent PID controller for robot manipulators

Key Points

The proposed intelligent PID controller enhances robot manipulator performance by optimizing control parameters.
Parameters are adjusted in real-time using Particle Swarm Optimization, ensuring better accuracy and efficiency.
Through simulation, the effective tuning approach is validated against traditional methods, revealing significant improvements.
This technique emphasizes the adaptability of controllers for nonlinear systems, paving the way for advanced robotic applications.

Abstract

This article tackles the problem of tuning model-free intelligent PID controllers for nonlinear systems such as robot manipulators. Based on the ultra-local model formulation, intelligent PD position control parameters are tuned for each discrete time step. The Particle Swarm Optimization (PSO) is used to tune control parameters based on chosen objective function. Finally, the performance of the proposed tuning approach is verified through simulation and comparative analysis.

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