Title :
Optimal conventional and fractional PID control algorithm for a robotic system with three degrees of freedom driven by DC motors
Author :
J. Samardžić;M.P. Lazarević;B. Cvetković
Author_Institution :
Dept. of Mech., Univ. of Belgrade, Belgrade, Serbia
Abstract :
The paper presents the new algorithms of PID control based on fractional calculus (FC) and optimal procedure in the position and tracking control of robotic system with 3 DOFs driven by DC motors. The objective of this work is to find out optimal settings for a fractional PIαDβ controller in order to fulfill proposed design specifications for the closed-loop system, taking advantage of the fractional orders, α and β. Finally, the effectiveness of suggested optimal fractional PID control is demonstrated with a suitable robot with three degrees of freedom as the illustrative example.
Keywords :
"Robot kinematics","DC motors","Fractional calculus","Equations","Control systems"
Conference_Titel :
Intelligent Systems and Informatics (SISY), 2011 IEEE 9th International Symposium on
Print_ISBN :
978-1-4577-1975-2
DOI :
10.1109/SISY.2011.6034341