Fractional PID controller tuned by genetic algorithms for a three DOF's robot system driven by DC motors
Samo za registrovane korisnike
2013
Konferencijski prilog (Objavljena verzija)
Metapodaci
Prikaz svih podataka o dokumentuApstrakt
This paper presents the new algorithms of fractional order PID control based on genetic algorithms in the position control of a 3 DOFs robotic system driven by DC motors. The objective of this work is to find out the optimal settings for a fractional PIαDβ controller in order to fulfill the proposed design specifications for the closed-loop system. The effectiveness of the suggested optimal fractional PID control is demonstrated with a suitable robot with three degrees of freedom as an illustrative example.
Ključne reči:
Robot / Optimal settings / Genetic algorithm / Fractional PID controller / DC motor / ControlIzvor:
IFAC Proceedings Volumes (IFAC-PapersOnline), 2013, 46, 1, 385-390Izdavač:
- IFAC Secretariat
Finansiranje / projekti:
- Održivost i unapređenje mašinskih sistema u energetici i transportu primenom forenzičkog inženjerstva, eko i robust dizajna (RS-MESTD-Technological Development (TD or TR)-35006)
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Institucija/grupa
Mašinski fakultetTY - CONF AU - Lazarević, Mihailo AU - Batalov, S.A. AU - Latinović, T.S. PY - 2013 UR - https://machinery.mas.bg.ac.rs/handle/123456789/1806 AB - This paper presents the new algorithms of fractional order PID control based on genetic algorithms in the position control of a 3 DOFs robotic system driven by DC motors. The objective of this work is to find out the optimal settings for a fractional PIαDβ controller in order to fulfill the proposed design specifications for the closed-loop system. The effectiveness of the suggested optimal fractional PID control is demonstrated with a suitable robot with three degrees of freedom as an illustrative example. PB - IFAC Secretariat C3 - IFAC Proceedings Volumes (IFAC-PapersOnline) T1 - Fractional PID controller tuned by genetic algorithms for a three DOF's robot system driven by DC motors EP - 390 IS - 1 SP - 385 VL - 46 DO - 10.3182/20130204-3-FR-4032.00179 ER -
@conference{ author = "Lazarević, Mihailo and Batalov, S.A. and Latinović, T.S.", year = "2013", abstract = "This paper presents the new algorithms of fractional order PID control based on genetic algorithms in the position control of a 3 DOFs robotic system driven by DC motors. The objective of this work is to find out the optimal settings for a fractional PIαDβ controller in order to fulfill the proposed design specifications for the closed-loop system. The effectiveness of the suggested optimal fractional PID control is demonstrated with a suitable robot with three degrees of freedom as an illustrative example.", publisher = "IFAC Secretariat", journal = "IFAC Proceedings Volumes (IFAC-PapersOnline)", title = "Fractional PID controller tuned by genetic algorithms for a three DOF's robot system driven by DC motors", pages = "390-385", number = "1", volume = "46", doi = "10.3182/20130204-3-FR-4032.00179" }
Lazarević, M., Batalov, S.A.,& Latinović, T.S.. (2013). Fractional PID controller tuned by genetic algorithms for a three DOF's robot system driven by DC motors. in IFAC Proceedings Volumes (IFAC-PapersOnline) IFAC Secretariat., 46(1), 385-390. https://doi.org/10.3182/20130204-3-FR-4032.00179
Lazarević M, Batalov S, Latinović T. Fractional PID controller tuned by genetic algorithms for a three DOF's robot system driven by DC motors. in IFAC Proceedings Volumes (IFAC-PapersOnline). 2013;46(1):385-390. doi:10.3182/20130204-3-FR-4032.00179 .
Lazarević, Mihailo, Batalov, S.A., Latinović, T.S., "Fractional PID controller tuned by genetic algorithms for a three DOF's robot system driven by DC motors" in IFAC Proceedings Volumes (IFAC-PapersOnline), 46, no. 1 (2013):385-390, https://doi.org/10.3182/20130204-3-FR-4032.00179 . .