Advanced Tuning of the PID Controller for a Mobile Robot
Mohamed KMICH, Nabil NADAH, Mhamed SAYYOURI
Abstract. This work deals with the automatic tuning of a PID controller for regulating the angular velocity of a DC motor integrated into the drive wheels of an electric wheelchair. The system is modeled using the motor’s electromechanical equations in order to obtain a transfer function used in the closed-loop simulation. The PID gains are optimized by the Arithmetic Optimization Algorithm (AOA) by minimizing the Integral of Time-weighted Absolute Error (ITAE). The performance of the AOA-PID-ITAE controller is compared to two competing metaheuristics, Artificial Bee Colony (ABC) and Corona Virus Search Optimizer (CVSO), under the same simulation conditions. The results show that the AOA achieves the lowest ITAE of 0.078262 with fast and steady convergence, while the ABC and CVSO stagnate at higher values of 0.19862 and 0.18077, respectively. In terms of transient response, the proposed controller significantly reduces stabilization time and overshoot, with ts = 0.78925s and Mp = 0.34876%, respectively.
Keywords
Arithmetic Optimization Algorithm, PID Regulator, Robot Mobile
Published online 4/25/2026, 9 pages
Copyright © 2026 by the author(s)
Published under license by Materials Research Forum LLC., Millersville PA, USA
Citation: Mohamed KMICH, Nabil NADAH, Mhamed SAYYOURI, Advanced Tuning of the PID Controller for a Mobile Robot, Materials Research Proceedings, Vol. 64, pp 510-518, 2026
DOI: https://doi.org/10.21741/9781644904091-64
The article was published as article 64 of the book Energy Futures
Content from this work may be used under the terms of the Creative Commons Attribution 3.0 license. Any further distribution of this work must maintain attribution to the author(s) and the title of the work, journal citation and DOI.
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