Enhanced Transient Performance of Micro-Robotic Systems via SFOA-Based PID Tuning

Muhammet İsmail Güngör; Davut Izci; Serdar Ekinci; Ehab Ghith

doi:10.17798/bitlisfen.1842996

Enhanced Transient Performance of Micro-Robotic Systems via SFOA-Based PID Tuning

Abstract

Precise position control of magnetically actuated micro-robotic systems is challenging due to viscous damping, parameter sensitivity, and the requirement for high transient accuracy without overshoot. This study presents an optimization-based control framework for enhancing transient and steady-state performance of a magnetically actuated micro-robotic position control system. The system dynamics are modeled based on magnetic force and viscous drag interactions on paramagnetic micro-particles suspended in fluid, yielding a second-order representation suitable for controller design. A proportional–integral–derivative (PID) controller regulates particle position, with parameters optimally tuned using the starfish optimization algorithm (SFOA), a bio-inspired metaheuristic that balances global exploration and local exploitation through biologically motivated movement, preying, and regeneration mechanisms. The tuning process is guided by the integral of squared time multiplied by squared error performance index, which suppresses late-stage tracking errors and promotes smooth transient behavior. Simulation studies are conducted for a 1000 µm step reference input, with the optimization independently repeated 25 times to assess robustness and consistency. Results demonstrate strong convergence reliability, with tightly clustered objective function values and low standard deviation across runs. Time-domain analyses confirm that the SFOA-tuned PID controller achieves a smooth, monotonic, overshoot-free response with the shortest rise and settling times compared to PID controllers tuned by arithmetic optimization, jellyfish search optimization, Harris Hawks Optimization (HHO), and a hybrid arithmetic–rat swarm approach. These findings establish the proposed method as an effective and reliable solution for high-precision micro-robotic positioning where overshoot-free operation and consistent transient performance are critically important.

Keywords

References

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Details

Primary Language

English

Subjects

Control Engineering

Journal Section

Research Article

Authors

Muhammet İsmail Güngör
0009-0003-9241-770X
Türkiye

Davut Izci ^*
0000-0001-8359-0875
Türkiye

Serdar Ekinci
0000-0002-7673-2553
Türkiye

Ehab Ghith
0000-0002-4338-9867
Egypt

Publication Date

June 30, 2026

Submission Date

December 16, 2025

Acceptance Date

April 30, 2026

Published in Issue

Year 2026 Volume: 15 Number: 2

DOI

https://doi.org/10.17798/bitlisfen.1842996

IZ

https://izlik.org/JA83WY65KB

Cite

RIS / Bibtex

APA

Güngör, M. İ., Izci, D., Ekinci, S., & Ghith, E. (2026). Enhanced Transient Performance of Micro-Robotic Systems via SFOA-Based PID Tuning. Bitlis Eren Üniversitesi Fen Bilimleri Dergisi, 15(2), 884-897. https://doi.org/10.17798/bitlisfen.1842996

AMA

1.Güngör Mİ, Izci D, Ekinci S, Ghith E. Enhanced Transient Performance of Micro-Robotic Systems via SFOA-Based PID Tuning. Bitlis Eren Üniversitesi Fen Bilimleri Dergisi. 2026;15(2):884-897. doi:10.17798/bitlisfen.1842996

Chicago

Güngör, Muhammet İsmail, Davut Izci, Serdar Ekinci, and Ehab Ghith. 2026. “Enhanced Transient Performance of Micro-Robotic Systems via SFOA-Based PID Tuning”. Bitlis Eren Üniversitesi Fen Bilimleri Dergisi 15 (2): 884-97. https://doi.org/10.17798/bitlisfen.1842996.

EndNote

Güngör Mİ, Izci D, Ekinci S, Ghith E (June 1, 2026) Enhanced Transient Performance of Micro-Robotic Systems via SFOA-Based PID Tuning. Bitlis Eren Üniversitesi Fen Bilimleri Dergisi 15 2 884–897.

IEEE

[1]M. İ. Güngör, D. Izci, S. Ekinci, and E. Ghith, “Enhanced Transient Performance of Micro-Robotic Systems via SFOA-Based PID Tuning”, Bitlis Eren Üniversitesi Fen Bilimleri Dergisi, vol. 15, no. 2, pp. 884–897, June 2026, doi: 10.17798/bitlisfen.1842996.

ISNAD

Güngör, Muhammet İsmail - Izci, Davut - Ekinci, Serdar - Ghith, Ehab. “Enhanced Transient Performance of Micro-Robotic Systems via SFOA-Based PID Tuning”. Bitlis Eren Üniversitesi Fen Bilimleri Dergisi 15/2 (June 1, 2026): 884-897. https://doi.org/10.17798/bitlisfen.1842996.

JAMA

1.Güngör Mİ, Izci D, Ekinci S, Ghith E. Enhanced Transient Performance of Micro-Robotic Systems via SFOA-Based PID Tuning. Bitlis Eren Üniversitesi Fen Bilimleri Dergisi. 2026;15:884–897.

MLA

Güngör, Muhammet İsmail, et al. “Enhanced Transient Performance of Micro-Robotic Systems via SFOA-Based PID Tuning”. Bitlis Eren Üniversitesi Fen Bilimleri Dergisi, vol. 15, no. 2, June 2026, pp. 884-97, doi:10.17798/bitlisfen.1842996.

Vancouver

1.Muhammet İsmail Güngör, Davut Izci, Serdar Ekinci, Ehab Ghith. Enhanced Transient Performance of Micro-Robotic Systems via SFOA-Based PID Tuning. Bitlis Eren Üniversitesi Fen Bilimleri Dergisi. 2026 Jun. 1;15(2):884-97. doi:10.17798/bitlisfen.1842996