Open Access

ARTICLE

Metaheuristics Algorithm for Tuning of PID Controller of Mobile Robot System

by Harsh Goud¹, Prakash Chandra Sharma², Kashif Nisar^3,7,*, Muhammad Reazul Haque⁴, Ag. Asri Ag. Ibrahim³, Narendra Singh Yadav², Pankaj Swarnkar⁵, Manoj Gupta⁶, Laxmi Chand⁶

1 Indian Institute of Information Technology, Nagpur, India
2 School of Computing & Information Technology, Manipal University, Jaipur, Rajasthan, India
3 Faculty of Computing and Informatics, University Malaysia Sabah, Jalan UMS, Kota Kinabalu, 88400, Sabah, Malaysia
4 Faculty of Computing & Informatics, Multimedia University, Persiaran Multimedia, Cyberjaya, 63100, Selangor, Malaysia
5 Maulana Azad National Institute of Technology, Bhopal, India
6 Department of Electronics and Communication Engineering, JECRC University, Jaipur, Rajasthan, India
7 Department of Computer Science and Engineering, Hanyang University, Seongdong-gu, Seoul, 04763, Korea

* Corresponding Author: Kashif Nisar. Email:

Computers, Materials & Continua 2022, 72(2), 3481-3492. https://doi.org/10.32604/cmc.2022.019764

Received 24 April 2021; Accepted 08 June 2021; Issue published 29 March 2022

Abstract

Robots in the medical industry are becoming more common in daily life because of various advantages such as quick response, less human interference, high dependability, improved hygiene, and reduced aging effects. That is why, in recent years, robotic aid has emerged as a blossoming solution to many challenges in the medical industry. In this manuscript, meta-heuristics (MH) algorithms, specifically the Firefly Algorithm (FF) and Genetic Algorithm (GA), are applied to tune PID controller constraints such as Proportional gain Kp Integral gain Ki and Derivative gain Kd. The controller is used to control Mobile Robot System (MRS) at the required set point. The FF arrangements are made based on various pre-analysis. A detailed simulation study indicates that the proposed PID controller tuned with Firefly Algorithm (FF-PID) for MRS is beneficial and suitable to achieve desired closed-loop system response. The FF is touted as providing an easy, reliable, and efficient tuning technique for PID controllers. The most suitable ideal performance is accomplished with FF-PID, according to the display in the time response. Further, the observed response is compared to those received by applying GA and conventional off-line tuning techniques. The comparison of all tuning methods exhibits supremacy of FF-PID tuning of the given nonlinear Mobile Robot System than GA-PID tuning and conventional controller.

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Keywords

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