Optimal PSO- PIOD P Multi -Controller for a Robotic Wrist
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Date
2018-03-01
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ALGERIAN JOURNAL OF SIGNALS AND SYSTEMS (AJSS).Vol. 3, Issue 1.pp 22-34
Abstract
Comparative study between to approach of control based in conventional PID controller and
robust Fractional PID controller (FOPID) using PSO algorithm applied to control robotics wrist (Robot RX-90
StaĆ¼bli). The mathematic model of robot are described follows by design of architecture control. two
approximation method of fractional order are used and finally a different simulation study comparative
between (PID, PSO-PID, FOPID and PSO-FOPID) with obtained results has been presented discussed and
approved the efficiently of the architecture control with PSO-FOPID controller followed by a conclusion and
some perspectives for future work.