Optimizing bionic Dual-Arm Underwater Robot Manipulator Performance: A Whales Optimization Algorithm Approach to PID Tuning

Abstract

This paper focuses on optimizing a Proportional-Integral-Derivative (PID) controller for a bionic dual-arm with single link underwater robot manipulator. The aim is to control the system's output and minimize the integral of absolute errors (IAE) for enhanced stability and robustness. Employing the Whales Optimization Algorithm Approach (WOA) for PID tuning, the results demonstrate superior performance compared to traditional methods like PSO, GA. The efficacy of the WOA-PID controller is evaluated by comparing its performance with alternative controllers such as Particle Swarm Optimization-PID (PSO-PID) and Ant Colony Optimization-PID (ACO-PID) using the Simulink/MATLAB platform to simulate the robot manipulator model and test all the controllers. The simulation outcomes unequivocally demonstrate the superior efficiency of the WOA-PID controller for trajectory tracking, reducing time to achieve steady state, and minimized Integral of Time-weighted Absolute Error (ITAE) when compared to the other controllers.