IAES International Journal of Artificial Intelligence (IJ-AI)

Vol. 11, No. 4, December 2022, pp. 1395~1404

ISSN: 2252-8938, DOI: 10.11591/ijai.v11.i4.pp1395-1404  1395

Real-time implementation of an enhanced proportional-

integral-derivative controller based on sparrow search
algorithm for micro-robotics system

Ehab Saif Ghith1, Farid Abdel Aziz Tolba2

1
Department of Mechatronics, Faculty of Engineering, Ain shams University, Cairo, Egypt
2
Faculty of Engineering, Ain shams University, Cairo, Egypt

Article Info ABSTRACT

Article history: This paper presents a new approach to control the position of the micro-
robotics system with a proportional-integral-derivative (PID) controller. By
Received Aug 12, 2021 using sparrow search algorithm (SSA), the optimal PID controller indicators
Revised Jun 30, 2022 were obtained by applying a new objective function namely, integral square
Accepted Jul 29, 2022 time multiplied square error (ISTES). The effeciency of the proposed SSA-
based controller was verified by comparisons made with grey wolf
optimization (GWO) algorithm-based controllers in terms of time. Each
Keywords: control technique will be applied to the identified model using MATLAB
Simulink and the experimental test facility was conducted using LabVIEW
Grey wolf optimization software. The simulation and experimental results show that the performance
Micro-particles robotics of SSA-PID controller based on ISTES cost function achieves the best
Minimally invasive surgery performance among various techniques. Moreover, the SSA technique had the
PID Controller highest performance compared to GWO technique based on rising and setting
Sparrow search algorithm time and many other performance measurements. Thus, it is recommended to
apply SSA for tuning the parameters of PID as it can enhance its performance
in micro-robotic systems. It was found that the amount of error is reduced by
50% using SSA than other former experiments.
This is an open access article under the CC BY-SA license.

Corresponding Author:
Ehab Seif Ghith
Department of Mechatronics, Ain shams University
Cairo, Egypt
Email: Drehabghith1978@gmail.com

1. INTRODUCTION
Minimally invasive surgery (MIS) emphasizes declining the trauma of surgical patients [1]. Also, it
makes the clinicians deep-seated every site in the body of the human. Besides, the patient may devote a small-
time amount in hospitals, and such may protect a worthy amount of money. One of the likely current surgeries’
kinds utilized or implemented today is surgery as laparoscopic. They inserted instruments into the body of
humans are through some incisions being small, and the operation is done according to images that are reserved
through a camera that is closely attached to the instrument. Figure 1 shows the variance for the two methods
of surgery.
The robots usages of MIS are of an advantage to medicine through invasiveness minimizing of MIS.
Also, it facilitates the previous treatment of inoperable patients. Such systems as robotic may be implemented
to accurately guide the needles to the site as specified in the body of the human. It is associated with the organs
as natural in the body of humans according to veins, arteries, and the gastrointestinal tract. They utilize them
to aim target as specific needed for treatment, diagnosis, and drug delivery. If the robot came to of smaller size,

Journal homepage: http://ijai.iaescore.com

1396  ISSN: 2252-8938

the depth of penetration may be elevated inside the body of the human. Such will cause efficient medicine
travel pathways to be smaller to achieve their goal.

Figure 1. The left image illustrates the traditional open-heart surgery, while the right image manifests the
(MIS) heart surgery done using laparoscopic instruments [1]

Keuning et al. [2] constructed a controlling system for the spherical site of the paramagnetic micro-
particles with 100 diameters as average. The system arrived at the control position with a settling error of
a maximum of 8.4 on a step response experiment with the hollow coil. Extra over, Farag et al. [3]
implemented the same experiment with a solid coil and attained a maximum settling time equal to 8
according to an auto-tuned control system. In our suggested study, the same experiment was done in [3] It may
be noticed that the maximum settling error attained is 4 . It may be noticed that the amount of error is reduced
by 50% than other previous experiments through the Sparrow search algorithm.
For meeting such control goals, the suitable design of a controller is of a vital role. Despite
developments in control methods, the controller as proportional-integral-derivative (PID) is still utilized widely
in the industry because of its recognized benefits i.e., as not hard to understand because of its just 3 parameters
being tunable, the structure being simple, and implementation ease [4]–[8]. Nevertheless, the proper PID tuning
as controller gains to achieve optimum performance is quite not easy. Over time, numerous heuristics
approaches of design have been suggested. Ziegler and Nichols are among them, some of the most popular
customary PID control methods. Generally, it is not easy to get the greatest-tuned gain for achieving the greatest
performance through Ziegler and Nichols approach. Likewise, the method of tuning according to the customary
method needed extra calculations mathematically that render the system extra complex [9], [10]. To avoid the
mentioned problem, recent artificial intelligence-based optimization and tuning methods are favored for
controller parameters optimization.
To support meta-heuristic algorithms, optimization techniques are now being used in different
engineering fields. The reason of which is that these techniques are very flexible, easy to implement, and do
not require gradient information. There are two main categories of meta-heuristics techniques which include
population-based algorithms and single-based algorithms. On every run, a single-based optimization algorithm
generates a single optimal solution which is also known as trajectory algorithms. Another category is the
population-based optimization algorithm which involves the generation of a series of multiple solutions with
redundancy. These solutions are further divided into five main categories including physics-based, chemical-
based, evolutionary-based, human-based, and swarm intelligence-based algorithms of optimization [11]–[17],
[18]–[24].
The current study involves an optimization algorithm called the Sparrow search algorithm (SSA)
which has been developed quite recently. SSA has been used by micro-robotic systems to tune the PID
controller which is essential to reduce the robustness of integral square time multiplied error square (ISTES).
Among the optimization algorithms, SSA is preferred because it is efficient in the frequency and time domain.
In this paper, section 2 is about the description of the system and different PID controller types, section 3 is
about the details of optimization techniques, section 4 involves the results of simulation and experiment, while
sections 5 and 6 include the discussion, conclusion, and future work regarding SSA. These data are collected
based on the experimental setup, in which some of experimental results were reported and published in Ref.
[3], and this work study is an extension of this work with advanced optimization techniques.

Int J Artif Intell, Vol. 11, No. 4, December 2022: 1395-1404

Int J Artif Intell ISSN: 2252-8938  1397

2. RESEARCH METHOD
2.1. Mathematical model
The particle is constructed of a paramagnetic material, and it needs Fe2O3 in lactic acid. Such particle
is of 100 diameters. The velocity of particles is associated with 2 chief factors. Such factor(s) is the viscous
drag force and the force as magnetic applied for micro-particles based on the need field as magnetic through
coils. If acceleration arrives at 0, velocity as a maximum is attained, thus, the force as magnetic will be
equivalent to the drag viscous force. The magnetic force may be designated,

𝐹 = ∇𝛼𝑝 𝑉𝑝 𝐵2 (1)

Since 𝑉𝑝 is designated as particles volumes, whereas B is recognized as the magnetic density of flux.
B associated with the time and distance, 𝛼𝑝 , and 𝑉𝑝 are constants. The previous volume of the formula may be
substituted to get the force formula as shown in (2),
4
𝐹= π𝛼𝑝 𝑟𝑝3 ∇𝐵2 (2)
3

Since is recognized as the micro radius of particles, whereas the force of drag is signified through
as shown in (3),

𝐹𝑑 = −6π𝜂𝑟𝑝 𝑣 (3)

Since 𝜂 is viscosity, in which 𝑣 is designated as micro-particles velocity, and according to 2nd law of
Newton motion,

∑ 𝐹 = 𝑚𝑝 𝑎𝑝

4
π𝛼𝑝 𝑟𝑝3 ∇𝐵2 − 6π𝜂𝑟𝑝 𝑣 = 𝑚𝑝 𝑎𝑝
3

4
π𝛼𝑝 𝑟𝑝3 ∇𝐵2 −𝑚𝑝 𝑎𝑝
3
𝑣= (4)
6π𝜂𝑟𝑝

Using (4), the maximum velocity takes place if the acceleration of the particle is equal to zero. The
velocity as a maximum is designated utilizing (5),

2 𝛼𝑝 𝑟𝑝2
𝑣𝑚 = ∇𝐵2 (5)
9 𝜂

Lastly, the particles are regarded as spheres being perfect. It is stimulated utilizing force as magnetic
designated through𝐹𝑚 . A force as drag 𝐹𝑑 which associated with the particles' speed in respect to the liquid. If
the liquid is stable the drag is then associated with the speed of the particle in respect to the world is fixed. The
system of continuous-time model is designated through,

𝑚𝑥̈ + 𝐶𝑑 ∗ 𝑥̇ = 𝐹𝑚 (6)

Since 𝐶𝑑 the drag is designated continuously through drag Stokes of Reynolds being low, 𝑚 is the
particle mass and 𝑥̇ is the velocity, and 𝑥̈ is the acceleration. The micro-particle transfer role may be signified
utilizing (7),

𝑋(𝑠) 1
= (7)
𝐹𝑚 (𝑠) 𝑚𝑠 2 +𝐶𝑑 ∗𝑠

2.2. PID controller

One of the chief controller kinds which are needed in the practice of industry is the proportional-
integral-derivative as idyllic (ideal-PID) [4]. Such controller develops the error of state as steady and transient.
The PID as ideal loses the higher enactment in the case of the disturbances. Such controllers are recognized as
customary ones. Figure 2(a) shows the chief ideal PID controller block diagram. The transfer ideal-PID role is
signified utilizing (8),

Real-time implementation of an enhanced proportional-integral-derivative controller … (Ehab Saif Ghith)

1398  ISSN: 2252-8938

𝑌(𝑠) 𝐾𝑖
𝐶(𝑠) = = 𝐾𝑝 + + 𝐾𝑑 𝑠 (8)
𝐸(𝑠) 𝑠

Since the proportional, integral, derivative is designated in the previous formulation is signified
utilizing the 𝐾𝑝, 𝐾𝑖 , and 𝐾𝑑 correspondingly. The general intelligent controller PID structure is illustrated in
Figure 2(b). The chief PID controller components are the role of fitness, methods of optimization, sensor, and
process.

(a) (b)

Figure 2. Block diagrams of PID controller for, (a) ideal PID controller and (b) tuning parameters of PID
controller

2.3. Fitness function

To design any type of controller there must exist many optimum control parameters. These parameters
are estimated by reducing the objective function. These objective functions are selected for reducing the time
response features because of the error on time dependency ISTES. The role of fitness designated at the existing
work is according to the ISTES for the simulation performance evaluation [25]–[27]. The ISTES fitness
function is estimates from (9).
∞
𝐼𝑆𝑇𝐸𝑆 = ∫0 [𝑡 2 𝑒(𝑡)]2 𝑑𝑡 (9)

The optimization problem can be formulated using the following rules,

Minimize (Objective function) Subjected to,

𝐾𝑝𝑚𝑖𝑛 < 𝐾𝑝 < 𝐾𝑝𝑚𝑎𝑥

𝐾𝑖𝑚𝑖𝑛 < 𝐾𝑖 < 𝐾𝑖𝑚𝑎𝑥

𝐾𝑑𝑚𝑖𝑛 < 𝐾𝑑 < 𝐾𝑑𝑚𝑎𝑥

2.4. Optimization techniques

Meta-heuristic techniques are mainly divided into two main algorithm categories: single-based and
population-based algorithm. Single-based algorithm is capable of generating a single optimal solution on every
run. It is also called trajectory algorithm, and it is enhanced when a neighboring methodology is used. The
population-based algorithm generates multiple solutions on every run and is further classified into five types:
Swarm intelligence, human, physical, chemical, and evolutionary-based algorithms. In this evolutionary-based
algorithm, the techniques use three main operations:Mutation, recombination, and selection. These techniques
are inspired by nature’s evolutionary phenomenon. For a swarm intelligent algorithm, the information is
gathered on the basis of a collective behavior adopted by nature. Physical-based algorithm gathers information
according to different theories obtained from the multiverse concept. Chemical-based algorithm uses chemical
compounds and chemical rules for optimization while humans and their actions are associated with human-
based algorithm. Population-based algorithms have a standard feature in common as per their nature, and the
search processes in such algorithms are categorized into two phases:Exploitation and exploration [28]–[32].
The methodologies of optimization used in this study include grey wolf optimization (GWO) and SSA.

Int J Artif Intell, Vol. 11, No. 4, December 2022: 1395-1404

Int J Artif Intell ISSN: 2252-8938  1399

2.4.1. GWO
GWO algorithm is a recent technique introduced in 2014 by Mirjalili et al. [18]. There are four major
types of simulations present in the grey wolves hierarchy. These types include Alpha (α) which present the best
solution and is the leader, Beta which is the second-best solution and has a role in assisting alpha in any
decision process, Delta which is the third-best solution, and Omega is the rest of the population and
also considered the worst-ranked [18]. The mathematical equations of GWO are given,

𝐷 ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
⃗ = | 𝐶 .𝑋 ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑝 (𝑡) − 𝑋 (𝑡) | (10)

⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑋(𝑡 + 1) = ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗ ⃗
𝑋𝑝 (𝑡) −𝐴.𝐷 (11)

In this equation, t depicts the current iteration, whereas 𝐴 and 𝐶 denote the vector of coefficients.
𝑋𝑝 (𝑡) is the position of vector in optimal solution reached up to this point and 𝑋 is GWO’s position vector? 𝐴
and 𝐶 can be calculated by (12)-(13),

𝐶 =2.𝑟 (12)

𝐴 =2 𝑎.𝑟 − 𝑎 (13)

In this equation, 𝑎 represents the variable that decreases linearly from 2 to 0 during a series of iteration.
This equation represents the vector at random present in the interval from [0 1]. The algorithm then saves the
top three best solutions are saved and searched on different search agents with the inclusion of omegas. The
position in the best search agents is used to update their position. The beta, alpha, omega, and delta terms are
defined by (14)-(16). The pseudocode and flowchart are described in Figure 3(a) and Figure 3(b), respectively.

𝐷𝛼 = | ⃗⃗⃗⃗
⃗⃗⃗⃗⃗ 𝐶1 .𝑋⃗⃗⃗⃗⃗𝛼 −. ⃗⃗⃗⃗⃗⃗ 𝐷𝛽 = | ⃗⃗⃗⃗
𝑋 |, ⃗⃗⃗⃗ 𝐶2.𝑋 ⃗⃗⃗⃗⃗𝛽 −. ⃗⃗⃗⃗⃗⃗ 𝐷𝛿 = | ⃗⃗⃗⃗
𝑋 |, ⃗⃗⃗⃗ 𝐶3 .𝑋⃗⃗⃗⃗⃗𝛿 −. ⃗⃗⃗⃗⃗⃗
𝑋 | (14)

⃗⃗⃗⃗
𝑋1 = ⃗⃗⃗⃗⃗
𝑋𝛼 −𝐴 ⃗⃗⃗⃗⃗⃗⃗𝛼 ), ⃗⃗⃗⃗
⃗⃗⃗⃗1 .(𝐷 𝑋2 = ⃗⃗⃗⃗⃗
𝑋𝛽 −𝐴 ⃗⃗⃗⃗⃗⃗⃗𝛽 ), ⃗⃗⃗⃗
⃗⃗⃗⃗2 .(𝐷 𝑋3 = ⃗⃗⃗⃗⃗
𝑋𝛿 −𝐴 ⃗⃗⃗⃗⃗⃗𝛿 )
⃗⃗⃗⃗3 .(𝐷 (15)

⃗⃗⃗⃗⃗
𝑋1 +𝑋 ⃗⃗⃗⃗⃗2 +𝑋
⃗⃗⃗⃗⃗3
⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑋(𝑡 + 1) = (16)
3

Figure 3. Solution procedure of GWO technique (a) Pseudocode and (b) Flowchart [18]

2.4.2. Sparrow search algorithm

As described, SSA is a technique of swarm intelligence optimization technique. The main idea behind
this algorithm was inspired by closely observing the sparrow population's behavior and with the concept of
foraging [33]. Depending on the behavioral characteristics, sparrows are classified into two groups; producers
and scroungers. Producers are the ones who have a larger space to locate the sources of food and the other
Real-time implementation of an enhanced proportional-integral-derivative controller … (Ehab Saif Ghith)
1400  ISSN: 2252-8938

group which search food according to the producers are called scroungers. The formula for SSA is determined
by using (17)-(21).
Step 1: The matrix given is used to determine the position of sparrows.

𝑋1,1 ⋯ 𝑋1,𝑑
𝑋 = [[ ⋮ ⋱ ⋮ ]] (17)
𝑋𝑛,1 ⋯ 𝑋𝑛,𝑑

In the equation presented, d represents the total dimension numbers, and n is the total sparrow number.
In case of high energy levels in sparrows, they are called producers, and they are designated to find certain
areas which have rich food supplies and to scavenge such zones to scroungers. Sparrow's value of cost is
evaluated by (18),

𝑓(𝑋1,1 ⋯ 𝑋1,𝑑 )
𝐹𝑥 = [ ⋮ ⋱ ⋮ ] (18)
𝑓(𝑋𝑛,1 ⋯ 𝑋𝑛,𝑑 )

Once sparrows locate the producers, alarming signals are produced for other sparrows depending upon
the threshold criteria. Producers lead scroungers to a safe destination if the alarm's value exceeds the safety
threshold's value. Producers which have the best cost value are most likely to find food as compared to the
scroungers. In (19) is used to continuously update the position of producers.

𝑡 𝑖
𝑡+1
𝑋𝑖,𝑗 ∗ exp (− ) 𝑖𝑓 𝑅2 < 𝑆𝑇
𝑋𝑖,𝑗 { 𝛽∗ 𝑖𝑡𝑒𝑟𝑚𝑎𝑥 (19)
𝑡
𝑋𝑖,𝑗 + 𝑄 ∗ 𝐿 𝑖𝑓 𝑅2 ≥ 𝑆𝑇

In this equation, the producer's current position in the jth dimension present in an ith iteration is
𝑡
described by𝑋𝑖,𝑗 whereas the maximum number of iterations is denoted by 𝑖𝑡𝑒𝑟𝑚𝑎𝑥 . The value of the threshold
is denoted by ST and falls in the range of [0.5, 1], β denotes a random constant value ranging from [0 1], and
the value lies within [0, 1]. So, according to this equation, it is considered that if the value of 𝑅2 is lesser than
the value of ST, there are zero predators, and producers can search for food sources globally. In other cases,
𝑅2 is equal to or greater than ST. In (20) is used to update the position of scroungers. In this equation, 𝐴+ is
determined by𝐴+ = 𝐴𝑇 ∗ (𝐴 ∗ 𝐴𝑇 ) −1 , 𝑋𝑝𝑡+1 is the position value found by producer, and lastly, the value of
the global worst population is represented by .
𝑡
𝑋𝑤𝑜𝑟𝑒𝑠𝑡 −𝑋𝑝𝑡+1
𝑡+1
𝑄 ∗ exp ( ) 𝑖𝑓 𝑖 > 𝑛/2
𝑋𝑖,𝑗 { 𝑖2 (20)
𝑡
𝑋𝑝𝑡+1 + |𝑋𝑖,𝑗 − 𝑋𝑝𝑡+1 | 𝑥 𝐴+ 𝑥 𝐿 𝑂𝑡ℎ𝑒𝑟𝑤𝑖𝑠𝑒

𝑡
In (21) is used to determine the positions of producers. In this equation, 𝑋𝑏𝑒𝑠𝑡 is the value of the current
global optimal location, K is a random value, α is another random value which is normally distributed with a
variance of 1 and mean value 0, and fw is the worst fitness value, 𝑓𝑖 and 𝑓𝑔 are the current individuals and
current global best costs respectively. The pseudocode of SSA and the flowchart are present in Figure 4(a) and
Figure 4(b), respectively.

𝑡 𝑡 𝑡+1
𝑋𝑏𝑒𝑠𝑡 + 𝛼 ∗ |𝑋𝑖,𝑗 − 𝑋𝑏𝑒𝑠𝑡 | 𝑥 𝑖𝑓 𝑓𝑖 > 𝑓𝑔
𝑡+1
𝑋𝑖,𝑗 { 𝑡
|𝑋 𝑡
𝑖,𝑗 −𝑋 𝑡+1
𝑤𝑜𝑟𝑠𝑡 | (21)
𝑋𝑖,𝑗 + 𝐾 ∗ ( (𝑓 )+𝜀
) 𝑓𝑖 = 𝑓𝑔
𝑖 −𝑓𝜔

2.5. System architecture

The system architecture consists of seven components includes reservoir, coils, microparticles,
pantograph robots, real-time controllers, microscope cameras, control algorithms, and power supply units. The
microparticle's major components in 2D space would be presented by us as displayed in Figure 5. We utilized
the controller of My Rio to arrive to a controller of real-time and for operation in real-time. We utilize four
coils for controlling the 2D micro-particle position in the water. A COMSOL software was used for simulating
the density of magnetic flux based on X and Y positions for particles coordination. The coil is made of isolated

Int J Artif Intell, Vol. 11, No. 4, December 2022: 1395-1404

Int J Artif Intell ISSN: 2252-8938  1401

copper wire with a 0.7mm dimension diam., the turns number is 1200. A robot of pantograph contains four
links with two encoders for computing the 2 chief angles. The pantograph chief role is to permit the operator
to controlling the trajectory of the micro-particle.

Figure 4. Solution procedure of SSA technique, (a) Pseudocode and (b) Flowchart [33]

Figure 5. The complete system architecture to control micro-particle given in 2D space [3]

3. SIMULATION AND EXPERIMENTAL RESULTS

This section involves comprehensive details about the investigation of micro-robotics systems'
performance by using multiple advanced control methods. Multiple tests are used to examine the execution of
different control techniques and their performance. These techniques are examined at a constant position i.e.
1000 µm used as a reference command. A Simulink diagram displaying the different advanced control
techniques in a micro-robotic system as shown in Figure 6. Regarding the maintenance and controlling of the
micro-robotics system's position at 1000 µm, the parameters of GWO and SSA are presented in Table 1, and
the proposed system parameters are listed in Table 2. Besides, Table 3 summarizes GWO and SSA output
results based on different fitness functions in the time domain. Figure 7(a) and Figure 7(b) describe the behavior
of a micro-robotics system by observing the reference of the position with the best fitness function (ISTES).
The minor variance observed between the practical curves and the simulation is due to the card time acquisition
delay, system uncertainty, and noise.

Real-time implementation of an enhanced proportional-integral-derivative controller … (Ehab Saif Ghith)

1402  ISSN: 2252-8938

Figure 6. Simulink diagram of the micro-robotic system with different advanced control techniques

Table 1. GWO and SSA input parameter Table 2. The proposed system parameters
GWO and SSA input parameters The proposed System Parameters
Parameters Values Name Values Units
Number of variables (nVar) 3 Radius (r) 50
Minimum value of variables (Kmin) [0 0 0] The density of Water ( 998.2 kg
Maximum value of variables (Kmax) [100 1 1] Dynamic Viscosity ( 1 mPa s
Max number of iterations 25 Mass (m) 7.33*10^(-10) Kg
Number of search agent 30 Drag Coefficient (cd) 0.94*10^(-6) NS

Table 3. GWO and SSA output results based on fitness functions (ISTES) in the time domain
GWO SSA
(Ideal-PID)
Control parameter Settling Time response Control Settling Time response
performance
error parameter error
criteria
KP KI KD tr ts KP KI KD tr ts
Simulation 90.7358 0.2566 0.0559 0 7.5607 13.1109 100 0.2672 0 0 6.8895 12.0744
Practical 90.7358 0.2566 0.0559 8 7.7083 13.1007 100 0.2672 0 4 7.0294 12.0655

Figure 7. Position behavior of two optimization techniques based on PID control with fitness functions
(ISTES): (a) GWO and (b) SSA

4. DISCUSSION
This section includes a thorough comparison between two methodologies of optimization which have
been performed on different measurements in the time domain. The measurements include setting time (ts),
rising time(tr ), and settling error. The results of the previously recorded measurements on GWO and SSA are
presented in Table 4.

Int J Artif Intell, Vol. 11, No. 4, December 2022: 1395-1404

Int J Artif Intell ISSN: 2252-8938  1403

Table 4. Comparison between GWO and SSA according to their time responses
No. Control technique tr ts Setting error(µm)
1 GWO Simulation 6.9574 12.0471 0
Practical 7.7083 13.1007 8
2 SSA Simulation 6.8895 12.0744 0
Practical 7.0294 12.1655 4

5. CONCLUSION
This paper includes the main optimization techniques which are used to tune the PID control in a
micro-robotic system. It can be concluded that based on a set of different fitness functions to discover the best,
the ISTES had the highest performance. A comparison between two main optimization techniques based on
GWO and SSA was developed. It has been observed that SSA displays a very good performance when
compared with GWO according to their rising and setting time and along with it several other measurements
of performances were considered, due to which SSA is recommended to tune the PID parameters. SSA should
be preferred over GWO because it enhances the efficiency of the parameter in the systems. It can be seen that
the amount of error is decreased by 50% using SSA than other former experiments. For future practices, various
optimization approaches such as whale optimization algorithm (WOA), hybrid PSO, Sine Cosine Algorithm
(SCA), and flower pollination algorithm (FPA) will need further investigations.

ACKNOWLEDGEMENTS
I would like to thanks Dr. Mohamed Sallam for his support in the experimental setup.

REFERENCES
[1] J. Keuning, “Image-based magnetic control of Microparticles,” University of Twente, 2011, [Online]. Available:
http://essay.utwente.nl/70474/1/keuning2011msc.pdf.
[2] J. D. Keuning, J. de Vriesy, L. Abelmanny, and S. Misra, “Image-based magnetic control of paramagnetic microparticles in water,”
pp. 421–426, 2011, doi: 10.1109/iros.2011.6095011.
[3] R. Farag, I. Badawy, F. Magdy, Z. Mahmoud, and M. Sallam, “Real-Time Trajectory Control of Potential Drug Carrier Using
Pantograph ‘Experimental Study,’” Advances in Intelligent Systems and Computing, vol. 1261 AISC, pp. 305–313, 2021, doi:
10.1007/978-3-030-58669-0_28.
[4] K. J. Astrom and T. Hagglund, “PID Controllers: theory, design, and tuning,” Instrument Society of America, 1995.
[5] M. Tamer, “PID Controller Implementation and Tuning,” InTech, 2011.
[6] T. Hagglund and K. J. Astrom, “Revisiting the Ziegler-Nichols tuning rules for PI control,” Asian Journal of Control, vol. 4, no. 4,
pp. 364–380, 2002, doi: 10.1111/j.1934-6093.2002.tb00076.x.
[7] W. Tan, J. Liu, T. Chen, and H. J. Marquez, “Comparison of some well-known PID tuning formulas,” Computers and Chemical
Engineering, vol. 30, no. 9, pp. 1416–1423, 2006, doi: 10.1016/j.compchemeng.2006.04.001.
[8] A. Visioli, “Research Trends for PID Controllers,” Acta Polytechnica, vol. 52, no. 5, pp. 4–7, Jan. 2012, doi: 10.14311/1656.
[9] D. Valério and J. S. da Costa, “Tuning of fractional PID controllers with Ziegler-Nichols-type rules,” Signal Processing, vol. 86,
no. 10, pp. 2771–2784, 2006, doi: 10.1016/j.sigpro.2006.02.020.
[10] D. K. Maghade and B. M. Patre, “Pole placement by PID controllers to achieve time domain specifications for TITO systems,”
Transactions of the Institute of Measurement and Control, vol. 36, no. 4, pp. 506–522, 2014, doi: 10.1177/0142331213508803.
[11] Q. V. Pham, S. Mirjalili, N. Kumar, M. Alazab, and W. J. Hwang, “Whale Optimization Algorithm with Applications to Resource
Allocation in Wireless Networks,” IEEE Transactions on Vehicular Technology, vol. 69, no. 4, pp. 4285–4297, 2020, doi:
10.1109/TVT.2020.2973294.
[12] M. Bhuyan, D. C. Das, and A. K. Barik, “A Comparative analysis of DSM based autonomous hybrid microgrid using PSO and
SCA,” Proceedings of 2019 IEEE Region 10 Symposium, TENSYMP 2019, pp. 765–770, 2019, doi:
10.1109/TENSYMP46218.2019.8971155.
[13] P. R. Chinda and R. Dalapati Rao, “A binary particle swarm optimization approach for power system security enhancement,”
International Journal of Electrical and Computer Engineering (IJECE), vol. 12, no. 2, p. 1929, Apr. 2022, doi:
10.11591/ijece.v12i2.pp1929-1936.
[14] M. Khalil Alsmadi et al., “Cuckoo algorithm with great deluge local-search for feature selection problems,” International Journal
of Electrical and Computer Engineering (IJECE), vol. 12, no. 4, p. 4315, Aug. 2022, doi: 10.11591/ijece.v12i4.pp4315-4326.
[15] A. C. Obula Reddy and K. Madhavi, “Manta ray optimized deep contextualized bi-directional long short-term memory based
adaptive galactic swarm optimization for complex question answering,” International Journal of Electrical and Computer
Engineering (IJECE), vol. 12, no. 4, p. 3994, Aug. 2022, doi: 10.11591/ijece.v12i4.pp3994-4006.
[16] W. Aribowo, S. Supari, and B. Suprianto, “Optimization of PID parameters for controlling DC motor based on the aquila optimizer
algorithm,” International Journal of Power Electronics and Drive Systems (IJPEDS), vol. 13, no. 1, p. 216, Mar. 2022, doi:
10.11591/ijpeds.v13.i1.pp216-222.
[17] M. Misaghi and M. Yaghoobi, “Improved invasive weed optimization algorithm (IWO) based on chaos theory for optimal design
of PID controller,” Journal of Computational Design and Engineering, vol. 6, no. 3, pp. 284–295, 2019, doi:
10.1016/j.jcde.2019.01.001.
[18] S. Mirjalili, S. M. Mirjalili, and A. Lewis, “Grey wolf optimizer,” Advances in Engineering Software, vol. 69, pp. 46–61, Mar.
2014, doi: 10.1016/j.advengsoft.2013.12.007.
[19] S. M. Mirjalili, S. Z. Mirjalili, S. Saremi, and S. Mirjalili, “Sine cosine algorithm: Theory, literature review, and application in
designing bend photonic crystal waveguides,” Studies in Computational Intelligence, vol. 811, pp. 201–217, 2020, doi:
10.1007/978-3-030-12127-3_12.

Real-time implementation of an enhanced proportional-integral-derivative controller … (Ehab Saif Ghith)

1404  ISSN: 2252-8938

[20] R. Pradhan, S. K. Majhi, and B. B. Pati, “Design of PID controller for automatic voltage regulator system using Ant Lion Optimizer,”
World Journal of Engineering, vol. 15, no. 3, pp. 373–387, 2018, doi: 10.1108/WJE-05-2017-0102.
[21] E. S. Ghith, F. A. Tolba, and S. A. Hammad, “Real-Time Implementation of Tuning PID Controller Based on Sine Cosine Algorithm
for Micro-robotics System,” pp. 801–811, 2022, doi: 10.1007/978-3-031-02447-4_82.
[22] E. S. Ghith and F. Abdel Aziz Tolba, “Real-Time Implementation of Tuning PID Controller Based on Whale Optimization
Algorithm for Micro-robotics System,” 2022 14th International Conference on Computer and Automation Engineering, ICCAE
2022, pp. 103–109, 2022, doi: 10.1109/ICCAE55086.2022.9762448.
[23] E. S. Ghith and F. A. A. Tolba, “Design and Optimization of PID Controller using Various Algorithms for Micro-Robotics System,”
Journal of Robotics and Control, vol. 3, no. 3, pp. 244–256, 2022, doi: 10.18196/jrc.v3i3.14827.
[24] K. G. Abdulhussein, N. M. Yasin, and I. J. Hasan, “Comparison of cascade P-PI controller tuning methods for PMDC motor based
on intelligence techniques,” International Journal of Electrical & Computer Engineering, vol. 12, no. 1, pp. 1–11, 2022, doi:
10.11591/ijece.v12i1.
[25] E. S. G. M. M. Eissa, G. S.Virk, A. M. AbdelGhany, “Optimum Induction Motor Speed Control Technique using Genetic
Algorithm,” American Journal of Intelligent Systems, vol. 3, no. 1, pp. 1–12, 2013, doi: 10.5923/j.ajis.20130301.01.
[26] E. S. G. M. M. Eissa, G. S.Virk, A. M. AbdelGhany, “Optimum Induction Motor Speed Control Technique using Particle Swarm
Optimization,” International Journal of Energy Engineering, vol. 3, no. 2, pp. 65–73, 2013, doi: 10.5923/J.IJEE.20130302.04.
[27] M. Sallam, I. Saif, Z. Saeed, and M. Fanni, “Lyapunov-Based Control of a Teleoperation System in Presence of Time Delay,”
Advances in Intelligent Systems and Computing, vol. 1261 AISC, pp. 759–768, 2021, doi: 10.1007/978-3-030-58669-0_67.
[28] D. Yousri, M. A. Elaziz, and S. Mirjalili, “Fractional-order calculus-based flower pollination algorithm with local search for global
optimization and image segmentation,” Knowledge-Based Systems, vol. 197, 2020, doi: 10.1016/j.knosys.2020.105889.
[29] S. Li, H. Chen, M. Wang, A. A. Heidari, and S. Mirjalili, “Slime mould algorithm: A new method for stochastic optimization,”
Future Generation Computer Systems, vol. 111, pp. 300–323, 2020, doi: 10.1016/j.future.2020.03.055.
[30] A. Yakout, W. Sabry, and H. M. Hasanien, “Enhancing rotor angle stability of power systems using marine predator algorithm
based cascaded PID control,” Ain Shams Engineering Journal, vol. 12, no. 2, pp. 1849–1857, 2021, doi: 10.1016/j.asej.2020.10.018.
[31] M. A. Sobhy, A. Y. Abdelaziz, H. M. Hasanien, and M. Ezzat, “Marine predators algorithm for load frequency control of modern
interconnected power systems including renewable energy sources and energy storage units,” Ain Shams Engineering Journal, vol.
12, no. 4, pp. 3843–3857, 2021, doi: 10.1016/j.asej.2021.04.031.
[32] A. Singh and S. Suhag, “Frequency regulation in an AC microgrid interconnected with thermal system employing multiverse-
optimised fractional order-PID controller,” International Journal of Sustainable Energy, vol. 39, no. 3, pp. 250–262, 2020, doi:
10.1080/14786451.2019.1684286.
[33] J. Xue and B. Shen, “A novel swarm intelligence optimization approach: sparrow search algorithm,” Systems Science and Control
Engineering, vol. 8, no. 1, pp. 22–34, 2020, doi: 10.1080/21642583.2019.1708830.

BIOGRAPHIES OF AUTHORS

Ehab Saif Ghith is born in Cairo, Egypt, on August 23, 1978. He is is PhD
Candidate. He received the B.Sc. degree in Design and Production Engineering in 2002 from
the Faculty of Engineering at Ain shams University, Cairo, Egypt, M. Sc. in Systems
Engineering and Engineering management, South Westphalia University of Applied
Sciences, Germany 2013 and M.Sc. in System’s Automation and Engineering Management,
Helwan University, Egypt, 2013, Research topic: “Optimum induction Motor speed control
technique using intelligent Methods”. His research activity includes studying Artificial
Intelligence, Electrical Machines, Automatic Control and Robotics. He can be contacted at
email: Drehabghith1978@gmail.com

Farid Abdel Aziz Tolba is born in Cairo, Egypt, on August 1, 1944. He is

Professor at Mechatronics. He received the B.Sc. degree in Design and Production
Engineering in 1969 from the Faculty of Engineering at Ain shams University, Cairo, Egypt,
M. Sc. and PhD in Design and Production Engineering, 1972 and 1975 respectively,
(Teaching Assistant on 1969-09-13-Assistant Lecturer on 1972-12-04-Lecturer on: 1975-10-
27-Assistant Professor on1980-12-01-Professor on 1986-02-03- Emeritus on 2004-08-01.
His research activity includes studying Artificial Intelligence, Automatic Control and
Robotics. He can be contacted at email: farid_tolba@eng.asu.edu.eg

Int J Artif Intell, Vol. 11, No. 4, December 2022: 1395-1404