A Comparative Analysis of Conventional PID Tuning Techniques for Single Link Robotic Arm

Abstract

A robotic arm is a programmable robot manipulator which is widely used in process industries. A robotic system is complex and controller problem in industries is a challenging task for researchers. Proportional-Integral-Derivative (PID) controller has been generally employed in Robotic process industries. A PID controller enhances the output response of a robotic arm by reducing the overshoot and settling time of a robotic arm. Characteristic of the robotic arm is generally nonlinear, so the optimal performance of it depends on appropriate tuning of PID parameters. This paper focuses on PID controller tunings with various tuning techniques particularly Ziegler-Nichols (ZN), Chien-Hrones-Reswick (CHR), Integral of Time multiplied by Absolute Errors (ITAE), Approximate M-constrained Integral Gain Optimization (AMIGO) and online-PID-Tuner methods for Single Link Robotic Arm model.Using a third-order feedback control system, simulations of arm outcomes to set point variations were plotted and investigated for robustness, stability and speed of response for these tuning methods.  Finally, a detailed comparative study is done on the basis of time response specifications.