Optimal TID Tracking Control for Industrial Delta Robot Based on Harmony Search

This paper seeks to enhance the delta robot accuracy using the Tilt-Integral-Derivative (TID) technique. A CAD model for a real delta robot was developed on SolidWorks®. Then a Simscape model was generated using MATLAB® to apply the proposed control technique. The proposed TID technique was compared with the Proportional integral derivative (PID) control to ensure robustness. The harmony search (HS) optimization was used to find the optimal parameters of the PID and the TID controllers based on an effective objective function. Several operating points of robot angles were applied to investigate the accuracy of each control technique. The results show that the TID based on harmony search had the best settling time, rise time, minimum overshoot, and minimum steady-state error.