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Algorithms 2015, 8(3), 697-711; doi:10.3390/a8030697

Comparative Study of DE, PSO and GA for Position Domain PID Controller Tuning

1
College of Mechanical and Electrical Engineering, Hunan University of Science and Technology, Xiangtan 411201, China
2
Department of Aerospace Engineering, Ryerson University, Toronto 350 Victoria St, ON, Canada
*
Author to whom correspondence should be addressed.
Academic Editors: Faisal N. Abu-Khzam and Giuseppe Lancia
Received: 1 July 2015 / Revised: 30 July 2015 / Accepted: 18 August 2015 / Published: 21 August 2015
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Abstract

Gain tuning is very important in order to obtain good performances for a given controller. Contour tracking performance is mainly determined by the selected control gains of a position domain PID controller. In this paper, three popular evolutionary algorithms are utilized to optimize the gains of a position domain PID controller for performance improvement of contour tracking of robotic manipulators. Differential Evolution (DE), Genetic Algorithm (GA), and Particle Swarm Optimization (PSO) are used to determine the optimal gains of the position domain PID controller, and three distinct fitness functions are also used to quantify the contour tracking performance of each solution set. Simulation results show that DE features the highest performance indexes for both linear and nonlinear contour tracking, while PSO is quite efficient for linear contour tracking. Both algorithms performed consistently better than GA that featured premature convergence in all cases. View Full-Text
Keywords: optimization; position domain control; PID; differential evolution (DE); genetic algorithm (GA); and Particle Swarm Optimization (PSO) optimization; position domain control; PID; differential evolution (DE); genetic algorithm (GA); and Particle Swarm Optimization (PSO)
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Ouyang, P.; Pano, V. Comparative Study of DE, PSO and GA for Position Domain PID Controller Tuning. Algorithms 2015, 8, 697-711.

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