Self-tuning intelligent PID controller for robot manipulators

This article tackles the problem of tuning model-free intelligent PID controllers for nonlinear systems such as robot manipulators. Based on the ultra-local model formulation, intelligent PD position control parameters are tuned for each discrete time step. The Particle Swarm Optimization (PSO) is used to tune control parameters based on chosen objective function. Finally, the performance of the proposed tuning approach is verified through simulation and comparative analysis.