Online PID Tuning of a 3-DoF Robotic Arm Using a Metaheuristic Optimisation Algorithm: A Comparative Analysis

This paper presents a metaheuristic algorithm-based proportional-integral-derivative (PID) controller tuning method for a 3 degrees of freedom (DoF) robotic manipulator. In particular, the War Strategy Optimisation Algorithm (WSO) is applied as a metaheuristic algorithm for PID tuning of the manipulator, and the performance of the controller is compared with Particle Swarm Optimisation (PSO) and Grey Wolf Optimisation (GWO) algorithms. According to the simulation outcomes, the WSO algorithm exhibits superior performance compared to the other two algorithms with respect to settling time, overshoot, and steady-state error. The proposed technique provides an effective approach for enhancing the performance of robotic manipulators and can be extended to other applications that require optimal PID controller tuning.