Parameter Tuning of PI-controller with Bat Algorithm
Dušan Fister, Riko Šafarič, Iztok Fister, Iztok Fister · 2016
Correct input controller parameter settings are vital and in constant connection with output functions - e.g. robotic positioning. Optimal positioning of robotic arm auto-matically provides a high level of safety and functionality. The rst prevents robot from hurting any people around or even itself, while the second ensures robot advantage. In order to improve both safety and functionality, we propose two nature-inspired algorithms for parameter tuning of PI-controller and test them on the laboratory robotic manipulator. However the manipulator is not designed to perform a real robotic work, it offers a detailed approach of positioning control. Our goal is to access the positioning control unit and combinatorially set the input controller parameters with the help of two implemented algorithms. This principle is called automatic parameter tuning, which rstly tests the corresponding setting, then evaluates it and nally tries to improve former result with new one.