Position Control of a Single Arm Manipulator Using GA-PID Controller | ||||
| International Conference on Aerospace Sciences and Aviation Technology | ||||
| Article 34, Volume 14, AEROSPACE SCIENCES & AVIATION TECHNOLOGY, ASAT - 14 – May 24 - 26, 2011, May 2011, Page 1-14 PDF (1022.73 K) | ||||
| Document Type: Original Article | ||||
| DOI: 10.21608/asat.2011.23256 | ||||
 View on SCiNiTO | ||||
| Authors | ||||
| Y. S. El-Koteshy; A. S. El-Wakeel; A. E. Elawa | ||||
| Egyptian Armed Forces, Egypt. | ||||
| Abstract | ||||
| This paper demonstrates in detail how to employ the genetic algorithm (GA) optimization technique to search efficiently the optimal proportional-integral-derivative (PID) controller gains to control the position of a fixed arm manipulator system. The system identification technique is used to find an equivalent transfer function for the system under study. GA is applied off-line to find the optimal PID controller parameters based on the identified model. The experimental and simulation results of the actual system and its identified model under the influence of the optimal PID controller are explored. The proposed approach shows superior features, including easy implementation, stable convergence characteristic, and good computational efficiency. | ||||
| Keywords | ||||
| Fixed arm manipulator system; system identification; Genetic Algorithm; PID controller | ||||
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