Real-Time Implementation of Tuning PID Controller Based on Sine Cosine Algorithm for Micro-robotics System

Abstract

This research presents a new approach to control the position of the micro-robotics system with a proportional-integral-derivative (PID) controller. By using sine, cosine algorithm (SCA), the optimal PID controller indicators were obtained by applying a new objective function namely, integral square time multiplied error square-(ISTES). The efficiency of the proposed SCA-based controller was verified by comparisons made with Grey Wolf Optimization (GWO) based on ISTES objective function. Each control technique will be applied to the identified model using MATLAB, Simulink and the experimental test facility was conducted using LABVIEW software. Moreover, the SCA technique had the highest performance compared to GWO technique based on rising, setting time, and setting error. Thus, it is recommended to apply SSA for tuning the parameters of PID as it can enhance its performance in micro-robotic systems. It was found that the amount of error is reduced by 37.5% using SCA than other former experiments.