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Robust PID optimal tuning of a Delta parallel robot based on a hybrid optimization algorithm of particle swarm optimization and differential evolution

Published online by Cambridge University Press:  12 December 2022

Yong-Ju Pak ,
Yong-Su Kong Open the ORCID record for Yong-Su Kong [Opens in a new window]  and
Jin-Song Ri
Yong-Ju Pak
Affiliation:
Faculty of Electronics and Automation, Kim Il Sung University, Pyongyang, Democratic People’s Republic of Korea
Yong-Su Kong*
Affiliation:
Faculty of Electronics and Automation, Kim Il Sung University, Pyongyang, Democratic People’s Republic of Korea
Jin-Song Ri
Affiliation:
Faculty of Electronics and Automation, Kim Il Sung University, Pyongyang, Democratic People’s Republic of Korea
*
*Corresponding author. E-mail: ys.kong0428@ryongnamsan.edu.kp
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Abstract

In this paper, we propose an approach to tune optimal parameters of a robust PID controller by means of computed torque control (CTC) strategy for trajectory tracking of a Delta parallel robot, using a hybrid optimization algorithm of Particle Swarm Optimization (PSO) and differential evolution (DE). It differs from previous works that they propose robust PID controller parameters tuning based on conventional gradient-based optimization algorithms and apply them to process control. First, we reduce the tuning problem of a robust PID controller with CTC strategy satisfying requirements including robustness and disturbance attenuation to an optimization problem with nonlinear constraints by considering the nonlinear dynamic model of a Delta parallel robot. Second, we set up the design characteristics for the trajectory tracking of a Delta parallel robot. Then, we propose a robust PID controller in a way of obtaining the global optimization solution of the nonlinear optimization problem by running a PSO-DE hybrid optimization algorithm of finding the global optimal solution by maintaining the diversity of swarm during evolution based on the evolution of cognitive experience. Simulation and experimental results demonstrate that the proposed controller outperforms previous works with respect to robust performance and active disturbance attenuation when it is applied to tracking control of a Delta parallel robot.

Keywords

Delta parallel robotparticle swarm optimizationdifferential evolutionrobust PID controlcomputed torque control
Type
Research Article
Information
Robotica , Volume 41 , Issue 4 , April 2023 , pp. 1159 - 1178
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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