Augmented Nonlinear PID Controller for Human-Robot Collaboration with Uncertainties

This paper suggests an augmented nonlinear PID (ANPID) controller for Human-Robot Collaboration with uncertainties. To be more precise, the encouraged controller is constructed based on the design of a Nonlinear PID controller combined with the optimization of controller parameters by the PSO algorithm. Lyapunov’s method is utilized to prove the stability of the controller. The ANPID exhibits enhanced performance in addressing instability, increased adaptability, and a more rapid response time. This controller improves precision and safety while dealing with uncertainties. Based on the outcome of the simulation of a robot arm’s dynamic model, the ANPID demonstrates better performance compared to conventional PD and PID controllers.