Optimization of PID using PSO for Upper Limb Rehabilitation Robot
- Resource Type
- Conference
- Authors
- Raza, Yarooq; Ahmed, Syed Faiz; Ali, Athar; Joyo, M. Kamran; Kadir, Kushsairy A.
- Source
- 2018 IEEE 5th International Conference on Engineering Technologies and Applied Sciences (ICETAS) Engineering Technologies and Applied Sciences (ICETAS), 2018 IEEE 5th International Conference on. :1-4 Nov, 2018
- Subject
- Bioengineering
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
Engineered Materials, Dielectrics and Plasmas
Engineering Profession
Fields, Waves and Electromagnetics
General Topics for Engineers
Photonics and Electrooptics
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Rehabilitation robotics
Optimization
Particle swarm optimization
Conferences
Tuning
Stroke (medical condition)
PID controller
PSO algorithm
Upper limb rehabilitation robot
- Language
Proportional Integral Derivative (PID) controller is most widely used feedback controller used in various applications such as control systems, instrumentation and motor drives. Tuning of PID parameters is challenging to researchers, despite of its popularity. This paper presents the optimization of PID controller using particle swarm optimization for controlling upper limb rehabilitation robot. The proposed algorithm offers easy implementation, less computation burden and fast convergence of the system response. PSO is an evolutionary algorithm which is based on the social behavior of fish and flocking of birds. This study will demonstrate in brief how to employ Particle swarm optimization on PID. MATLAB simulations have been carried out and graphs have been plotted which shows less percent overshoot and a significant rise time of the system having no steady state error. The results proved that PSO-PID is stable and efficient control algorithm for upper limb rehabilitation robot.