The reduction coefficient of PID controller by using PSO algorithm method for Flexible single-arm robot system

This study on the design of PID controllers for flexible single-arm robot system optimization PSO method is focused so that the coefficients of the PID controller are reduced. In this study, PID controller and PSO algorithm have been described and then by using MATLAB, PID control was simulated. Then by PSO algorithm, attempts to reduce the PID coefficients are given by simulation. Finally PID coefficientsʹ values were compared with and without the PSO algorithm. The results showed that by using the number of birds and birds number steps, both equal to 30 (the sixth), the lowest values of the coefficients p K , d K , i K are 0.741, 0.1491and 0, respectively.