Optimization of PID using PSO for Upper Limb Rehabilitation Robot

Proportional Integral Derivative (PID) controller is most widely used feedback controller used in various applications such as control systems, instrumentation and motor drives. Tuning of PID parameters is challenging to researchers, despite of its popularity. This paper presents the optimization of PID controller using particle swarm optimization for controlling upper limb rehabilitation robot. The proposed algorithm offers easy implementation, less computation burden and fast convergence of the system response. PSO is an evolutionary algorithm which is based on the social behavior of fish and flocking of birds. This study will demonstrate in brief how to employ Particle swarm optimization on PID. MATLAB simulations have been carried out and graphs have been plotted which shows less percent overshoot and a significant rise time of the system having no steady state error. The results proved that PSO-PID is stable and efficient control algorithm for upper limb rehabilitation robot.