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 7th Balkan Mining Congress - confOrganiser.com

7th Balkan Mining Congress

October 11 - 13, 2017.

Some new results on fractional order control of a robotic system

Author(s):
1. Mihailo Lazarevic, Mašinski fakultet Univerziteta u Beogradu, Serbia
2. Nikola Djurovic, Serbia


Abstract:
This paper presents new algorithms of fractional order PD/PDD/PID control based on swarm (PSO) and genetic algorithms (GA) in the control of a 3 DOF`s robotic system driven by DC motors. The optimal settings for a fractional controller as well as integer order PID controller (IOPID) are done, applying GA/PSO tuning approach and their extension for FOPID–IOPID controllers in a comparative manner. The effectiveness of the suggested optimal FOPID control is demonstrated with a given robotic system as an illustrative example.

Key words:
robotics,fractional order control,PD/PDD controller,swarm optimization,genetic algorithms,

Thematic field:
Mechatronics and Information Technology

Date of abstract submission:
03.03.2015.

Conference:
12th International conference on accomplishments in Electrical and Mechanical Engineering and Information Technology (DEMI 2015)

Final paper

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