Optimal Tuning of PID Controllers for a Hydraulically Driven Parallel Robot Platform Based on Firefly Algorithm

Abstract

The positions of moving platform are changed by extension or shortening of the six pneumatic cylinders. A PID control technique has been applied in practice for control of a 6-DOF parallel robot platform. A parameter search based on Firefly Algorithm (FA) is suggested to effectively search the parameters of PID controllers. Simulation results show the advantages of the proposed optimal tuned PID controllers to solve the formulated tracking problem in relation to the classical tuned PID controllers.