{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,26]],"date-time":"2026-04-26T04:45:27Z","timestamp":1777178727543,"version":"3.51.4"},"reference-count":27,"publisher":"Cambridge University Press (CUP)","issue":"6","license":[{"start":{"date-parts":[[2014,9,10]],"date-time":"2014-09-10T00:00:00Z","timestamp":1410307200000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2016,6]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Particle swarm optimization (PSO) is a heuristic optimization algorithm and is commonly used for the tuning of PD\/PID-type controllers. In this paper, PSO is applied for control gain tuning of a position domain PID controller in order to improve contour tracking performances of linear and nonlinear contours for a serial multi-DOF robotic manipulator. A new fitness function is proposed for gain tuning based on the statistics of the contour error, and pre-existed fitness functions are also applied for the optimization process, followed by some comparison studies. The PSO tuning technique demonstrated the same effectiveness in position domain controllers as in time domain controllers with the results being quite satisfying with low contour errors for both linear and nonlinear contours, and the proposed fitness function is proved to be on par with the pre-existed fitness functions.<\/jats:p>","DOI":"10.1017\/s0263574714002331","type":"journal-article","created":{"date-parts":[[2014,9,10]],"date-time":"2014-09-10T10:07:37Z","timestamp":1410343657000},"page":"1351-1366","source":"Crossref","is-referenced-by-count":11,"title":["Gain tuning of position domain PID control using particle swarm optimization"],"prefix":"10.1017","volume":"34","author":[{"given":"V.","family":"Pano","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"P. R.","family":"Ouyang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2014,9,10]]},"reference":[{"key":"S0263574714002331_ref23","doi-asserted-by":"publisher","DOI":"10.1016\/0005-1098(94)90209-7"},{"key":"S0263574714002331_ref14","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2012.06.001"},{"key":"S0263574714002331_ref8","doi-asserted-by":"crossref","unstructured":"M. Solihin , M. Kamal and A. Legowo , \u201cOptimal PID Controller Tuning of Automatic Gantry Crane Using PSO Algorithm,\u201d Procceeding of the 15th International Symposium on Mechatronics and its Applications, Amman, Jordan (May 27\u201329, 2008) pp. 1\u20135.","DOI":"10.1109\/ISMA.2008.4648804"},{"key":"S0263574714002331_ref27","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijepes.2011.01.019"},{"key":"S0263574714002331_ref17","article-title":"Cross-coupled PID control in position domain for contour tracking","author":"Ouyang","year":"2014","journal-title":"Roboticia"},{"key":"S0263574714002331_ref21","doi-asserted-by":"crossref","unstructured":"Y. Zhang , F. Qiao , J. Lu , L. Wang and Q. Wu , \u201cPerformance Criteria Research on PSO-PID Control Systems,\u201d International Conference on Intelligent Computing and Cognitive Informatics, Kuala Lampur, Malaysia (Jun. 22\u201323, 2010) pp. 316\u2013320.","DOI":"10.1109\/ICICCI.2010.51"},{"key":"S0263574714002331_ref15","article-title":"PID position domain control for contour tracking","author":"Ouyang","year":"2013","journal-title":"Int. J. Syst. Sci."},{"key":"S0263574714002331_ref2","doi-asserted-by":"publisher","DOI":"10.1049\/ip-cta:20020103"},{"key":"S0263574714002331_ref10","doi-asserted-by":"crossref","unstructured":"C. Lv and Y. Pang , \u201cImproved PD Controller for AUV Based on MPSO,\u201d Proceedings of the IEEE International Asia Conference on Informatics in Control, Automation and Robotics, Bangkok, Thailand (Feb. 1\u20132, 2009) pp. 24\u201328.","DOI":"10.1109\/CAR.2009.16"},{"key":"S0263574714002331_ref26","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008202821328"},{"key":"S0263574714002331_ref20","doi-asserted-by":"crossref","unstructured":"S. Ebbesen , P. Kiwitz and L. Guzzella , \u201cA Generic Particle Swarm Optimization Matlab Function,\u201d Proceedings of the IEEE American Control Conference, Montreal, Canada (Jun. 27\u201329, 2012) pp. 1519\u20131524.","DOI":"10.1109\/ACC.2012.6314697"},{"key":"S0263574714002331_ref22","doi-asserted-by":"publisher","DOI":"10.1177\/02783640022068011"},{"key":"S0263574714002331_ref1","doi-asserted-by":"publisher","DOI":"10.1016\/S0967-0661(01)00062-4"},{"key":"S0263574714002331_ref19","doi-asserted-by":"publisher","DOI":"10.1016\/j.compstruc.2006.10.013"},{"key":"S0263574714002331_ref12","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-009-0213-9"},{"key":"S0263574714002331_ref13","unstructured":"L. Lin and F. Wang , \u201cRobust PID Controller Design Using Particle Swarm Optimization,\u201d Proceedings of the 7nth Asian Control Conference, IEEE, Hongkong (Aug. 27\u201329, 2009) pp. 1673\u20131678."},{"key":"S0263574714002331_ref7","first-page":"12","article-title":"PSO-based tuning of a PID controller for a high performance drilling machine","volume":"1","author":"Giriraj Kumar","year":"2010","journal-title":"Int. J. Comput. Appl."},{"key":"S0263574714002331_ref11","unstructured":"H. T. Dorrah , A. M. El-Garhy and M. E. El-Shimy , \u201cDesign of PSO-Based Optimial Fuzzy PID Controllers for the Two-Coupled Distillation Column Process,\u201d Proceedings of the 14th International Middle East Power Systems Conference, Cairo, Egypt (Dec. 19\u201321, 2010) pp. 181\u2013188."},{"key":"S0263574714002331_ref4","doi-asserted-by":"crossref","unstructured":"J. Kennedy and R. Eberhart , \u201cParticle Swarm Optimization,\u201d Procceedings of IEEE International Conference on Neural Networks, vol. 4, Perth, Australia (Nov. 27\u2013Dec. 1, 1995) pp. 1942\u20131948.","DOI":"10.1109\/ICNN.1995.488968"},{"key":"S0263574714002331_ref6","first-page":"211","article-title":"A PSO-based optimum design of PID controller for a linear brushless DC motor","volume":"26","author":"Nasri","year":"2007","journal-title":"Word Acad. Sci. Eng. Technol."},{"key":"S0263574714002331_ref25","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2007.894691"},{"key":"S0263574714002331_ref9","first-page":"3179","article-title":"Multi-objective PID controller based on adaptive weighted PSO with applications to steam temperature control in boilers","volume":"2","author":"Kumar","year":"2010","journal-title":"Int. J. Eng. Sci. Technol."},{"key":"S0263574714002331_ref3","first-page":"42","article-title":"A comparative study of PID controller tuning using GA, EP, PSO and ACO","volume":"5","author":"Nagaraj","year":"2011","journal-title":"J. Autom. Mobile Robot. Intell. Syst."},{"key":"S0263574714002331_ref18","volume-title":"Introduction to Robotis: Mechanics and Control","author":"Craig","year":"2005"},{"key":"S0263574714002331_ref24","unstructured":"S. S. Yeh and P. L. Hsu , \u201cA New Approach to Biaxial Cross-Coupled Control,\u201d Proceedings of the 2000 IEEE International Conference on Control Applications, Anchorage, USA (Sep. 25\u201327, 2000) pp. 168\u2013173."},{"key":"S0263574714002331_ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TEVC.2006.880326"},{"key":"S0263574714002331_ref16","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2013.08.005"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574714002331","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,8,14]],"date-time":"2019-08-14T21:15:20Z","timestamp":1565817320000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574714002331\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,9,10]]},"references-count":27,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2016,6]]}},"alternative-id":["S0263574714002331"],"URL":"https:\/\/doi.org\/10.1017\/s0263574714002331","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2014,9,10]]}}}