Real-Time Implementation of an Enhanced PID CONTROLLER based on Marine Predator Algorithm (MPA) for Micro-robotics System

Abstract

This paper presents a new approach to control the position of the micro-robotics system with a proportional-integral-derivative (PID) controller. By using Marine Predator algorithm (MPA), the optimal PID controller indicators were obtained by applying a new objective function namely, integral square time multiplied square error (ISTES). The efficiency of the proposed MPA-based controller was verified by comparisons made with Grey Wolf Optimization (GWO) algorithm-based controllers in terms of time. Each control technique will be applied to the identified model using MATLAB Simulink and the experimental test facility was conducted using LABVIEW software. The simulation and experimental results show that the performance of MPA-PID controller based on ISTES cost function achieves the best performance among various techniques. Moreover, the MPA technique had the highest performance compared to GWO technique based on rising time, settling time and settling error. Thus, it is recommended to apply MPA 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 33.75% using MPA than other former experiments