Approaching Index Switching Algorithm for Position Control of a Single-Joint Robotic Arm

Document Type : Original Article

Authors

1 Department of Electrical Engineering, Faculty of Engineering, Sohag University, Sohag, Egypt.

2 Mechanical Power Eng. Department, Faculty of Engineering, El-Minia University, El-Minia, Egypt.

3 Department of Electrical Engineering, Faculty of Engineering, El-Minia University, El-Minia, Egypt.

Abstract

An Approaching Index Switching Algorithm (AISA), designed to meet the stringent precision and speed requirements of robotic manipulators is presented in this article. The AISA is applied to a single-joint robotic arm to enhance operational speed while maintaining acceptable precision. It utilizes a dynamic switching mechanism that alternates between two controllers based on an "approaching index," which selects the appropriate controller for each segment of the operation. The AISA integrates two closed-loop control systems, a proportional controller known for its swift response, and a proportional-integral-derivative (PID) controller valued for its smoothly precise response and effectiveness in achieving stable control in many practical applications. For the algorithm validation the control system was subjected to a simulation that was carried out in MATLAB Simulink depending on the mathematical model of the single-joint robotic arm, the Particle Swarm Optimization (PSO) method was utilized to optimize the parameters of AISA. The performance efficiency of AISA was evaluated against other control strategies such as Conventional PID, Optimal PID, Fractional-order PID, and Adaptive PID, where it outperforms each one of them. Experimental validation confirmed these results, demonstrating the single joint arm achieved quicker settling and rising times, higher accuracy, and lower energy consumption than alternative controllers.

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References

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