Hybrid DE-TLBO Based Robotic Arm Controller

摘要

A New effective optimization Technique called ‘Hybrid DE-TLBO’ is proposed in this paper by clubbing of Differential Evolution10 and Teacher learning Based optimization algorithms9 for optimization of motion control of one degree of freedom of Robotic arm consisting of a DC Motor. This algorithm is used to control the PID gains namely Kp, Ki, Kd to get the optimized values of desired specifications that is to optimize the Rise time, settling time, steady state error, Maximum Peak Overshoot. This can be achieved through developing the model of DC Motor of Robotic Arm in Simulink and simulate with the algorithm and comparing with DE and TLBO algorithms.