Improved PID Controller using Archimedes’ Optimization Algorithm to Control an Electric Wheelchair
Mohamed Kmich, Hicham Karmouni, Mhamed Sayyouri · 2025
An important development in automation and robotics is the use of electric wheelchairs. Using the Integral Time of Absolute Error (ITAE) as the objective function, we propose a new algorithm in this study that is based on the Archimedes Optimization Algorithm (ArOA) to control a wheeled electric wheelchair. The algorithm optimizes the gains of the PID controller of a DC motor embedded in the wheels of the electric wheelchair. The simulation results show the effectiveness and robustness of the suggested method in enhancing the system’s transient response criteria. Additionally, the suggested algorithm shows how effective it is and how much better it is than other metaheuristics like the Sine-Cosine Algorithm (SCA-PID) and Slime Mould Algorithm (SMA-PID).