PID controller with novel PSO applied to a joint of a robotic manipulator

This paper presents a speed control of one robotic manipulator joint driven by a three-phase induction motor (IM) that uses space vector modulation based on pulse width modulation (SVPWM). Three metaheuristic algorithms are considered: genetic algorithm (GA), differential evolution (DE) and classical particle swarm optimization (PSO). Furthermore, in this paper, the Quick PSO algorithm is proposed to obtain an improvement from PSO. These techniques are considered in order to achieve an optimized tuning for proportional-integral-derivative (PID) controllers in the speed control of the IM-SVPWM. The optimization procedure is performed through computational simulation. Once obtained, the optimized parameters are applied in a practical system that uses a digital signal processor. Experimental results validate the proposed approach, comparing it to other tuning methods of PI and PID controllers, such as GA, PSO and DE.