Off-line PID control tuning for a planar parallel robot using DE variants

作者：

Highlights：

• The PID control tuning method for a parallel robot based on a dynamic optimization is stated.

• The constraint and method (C&M) included into DE variants efficiently handle unstable individuals.

• The convergence time of the DE variants is decreased by including the C&M.

• Laboratory testing validates the proposed PID control tuning.

摘要

•The PID control tuning method for a parallel robot based on a dynamic optimization is stated.•The constraint and method (C&M) included into DE variants efficiently handle unstable individuals.•The convergence time of the DE variants is decreased by including the C&M.•Laboratory testing validates the proposed PID control tuning.

论文关键词：Controller tuning,Optimal tuning,Differential evolution,Parallel robot

论文评审过程：Received 28 August 2015, Revised 10 May 2016, Accepted 2 August 2016, Available online 3 August 2016, Version of Record 9 August 2016.

论文官网地址：https://doi.org/10.1016/j.eswa.2016.08.013