Control of a manipulator using shuffled complex evolution

Many Proportional-Integral-Derivative (PID) controller design methods on nonlinear systems are reported in recent years due to its simple structure and powerful performance. This paper presents Shuffled Complex Evolution (SCE) method for PID design process that yeilds more optimum parameters. By adding saturation constraint to the system, our model is more precise than other reported researches. Also we have improved the cost function formulation of the optimization problem. The PID controller has been applied on a 5-bar-linkage manipulator.