Improved PSO tuned Classical Controllers (PID and SMC) for Robotic Manipulator

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Neha Kapoor 1,* Jyoti Ohri 1

1. Department of Electrical Engineering, National Institute of Technology, Kurukshetra-136118

* Corresponding author.


Received: 6 Sep. 2014 / Revised: 2 Oct. 2014 / Accepted: 23 Nov. 2014 / Published: 8 Jan. 2015

Index Terms

Non-linear control systems, Particle Swarm Optimization (PSO), Proportional Integral Derivative (PID), Sliding Mode Controller (SMC), Pseudo Sliding Function


Due to simplicity and robustness, classical PID and SMC have been still widely used in practical applications. Performance of these controllers (PID and SMC) depends upon the value of some of the constant controller parameters. To avoid the most commonly used tedious trial and error method, this paper proposes an improved PSO based method for getting the optimized value of these parameters. For validation purpose these improved PSO tuned Proportional Integral Derivative (PID) and Sliding Mode (SMC) classical controllers have been applied for the motion control problem of the robotic manipulator. The chattering problem of SMC has been handled by using pseudo sliding function. Further results have been analyzed by comparing them with the basic conventional controllers. Results and conclusions are based on simulation results.

Cite This Paper

Neha Kapoor, Jyoti Ohri, "Improved PSO tuned Classical Controllers (PID and SMC) for Robotic Manipulator", International Journal of Modern Education and Computer Science (IJMECS), vol.7, no.1, pp.47-54, 2015. DOI:10.5815/ijmecs.2015.01.07


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