Optimal PID controller design using artificial bee colony algorithm for robot arm

Ghassan A. Sultan (Northern Technical University)
Muhammed K. Jarjes (Northern Technical University)

Indonesian Journal of Electrical Engineering and Computer Science
Vol 21, No 1: January 2021

Proportional integral derivation (PID) controller is used in this paper for optimal design, and tuning by zeigler and nichol (ZN) with artificial bee colony algorithm. The best parameter were found using these algorithms for best performance of a robot arm. The advantage of using ABC were highlighted. The controller using the new algorithm was tested for valid control process. Different colony size has been performed for tuning process, settling time, from time domain performance, rise time, overshot, and steady state error with ABC tuning give better dynamic performance than controller using the (ZN).