Parameter tuning of PI-controller with Bat algorithm

Authors

  • Dusan Fister University of Maribor, Faculty of Mechanical Engineering Smetanova 17, 2000 Maribor
  • Riko Safarič University of Maribor, Faculty of Electrical Engineering and Computer Science Smetanova 17, 2000 Maribor
  • Iztok Jr. Fister University of Maribor, Faculty of Electrical Engineering and Computer Science Smetanova 17, 2000 Maribor
  • Iztok Fister University of Maribor, Faculty of Electrical Engineering and Computer Science Smetanova 17, 2000 Maribor

Abstract

Correct input controller parameter settings are vital and in constant connection with output functions - e.g. robotic positioning. Optimal positioning of robotic arm auto-matically provides a high level of safety and functionality. The rst prevents robot from hurting any people around or even itself, while the second ensures robot advantage. In order to improve both safety and functionality, we propose two nature-inspired algorithms for parameter tuning of PI-controller and test them on the laboratory robotic manipulator. However the manipulator is not designed to perform a real robotic work, it offers a detailed approach of positioning control. Our goal is to access the positioning control unit and combinatorially set the input controller parameters with the help of two implemented algorithms. This principle is called automatic parameter tuning, which rstly tests the corresponding setting, then evaluates it and nally tries to improve former result with new one.

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Published

2016-01-06

How to Cite

Fister, D., Safarič, R., Fister, I. J., & Fister, I. (2016). Parameter tuning of PI-controller with Bat algorithm. Informatica, 40(1). Retrieved from https://puffbird.ijs.si/index.php/informatica/article/view/1114

Issue

Vol. 40 No. 1 (2016)

Section

Regular papers

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