USING PARTICLE SWARM OPTIMIZATION ALGORITHM TO TUNE GAINS OF PID CONTROLLER FOR CABLE-DRIVEN PARALLEL ROBOT

Abstract

In this paper, a method to tune PID controller parameters for cable-driven parallel robots (CDPR) based on the optimal search result of particle swarm optimization (PSO) algorithm is proposed. The main advantage of the PSO algorithm is the ability to manually search within a given available area; does not require a detailed mathematical description of the object, but only uses a cost function for optimization. The PSO algorithm is built on Matlab/Simulink to tune the parameters of a PID controller for a CDPR with eight cables.