Optimal conventional and fractional PID control algorithm for a robotic system with three degrees of freedom driven by DC motors
Само за регистроване кориснике
2011
Конференцијски прилог (Објављена верзија)
Метаподаци
Приказ свих података о документуАпстракт
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 PIαD β 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.
Извор:
SISY 2011 - 9th International Symposium on Intelligent Systems and Informatics, Proceedings, 2011, 297-301Финансирање / пројекти:
- Одрживост и унапређење машинских система у енергетици и транспорту применом форензичког инжењерства, еко и робуст дизајна (RS-MESTD-Technological Development (TD or TR)-35006)
Колекције
Институција/група
Mašinski fakultetTY - CONF AU - Samardžić, J. AU - Lazarević, Mihailo AU - Cvetković, Boško PY - 2011 UR - https://machinery.mas.bg.ac.rs/handle/123456789/1325 AB - 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 PIαD β 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. C3 - SISY 2011 - 9th International Symposium on Intelligent Systems and Informatics, Proceedings T1 - Optimal conventional and fractional PID control algorithm for a robotic system with three degrees of freedom driven by DC motors EP - 301 SP - 297 DO - 10.1109/SISY.2011.6034341 ER -
@conference{ author = "Samardžić, J. and Lazarević, Mihailo and Cvetković, Boško", year = "2011", 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 PIαD β 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.", journal = "SISY 2011 - 9th International Symposium on Intelligent Systems and Informatics, Proceedings", title = "Optimal conventional and fractional PID control algorithm for a robotic system with three degrees of freedom driven by DC motors", pages = "301-297", doi = "10.1109/SISY.2011.6034341" }
Samardžić, J., Lazarević, M.,& Cvetković, B.. (2011). Optimal conventional and fractional PID control algorithm for a robotic system with three degrees of freedom driven by DC motors. in SISY 2011 - 9th International Symposium on Intelligent Systems and Informatics, Proceedings, 297-301. https://doi.org/10.1109/SISY.2011.6034341
Samardžić J, Lazarević M, Cvetković B. Optimal conventional and fractional PID control algorithm for a robotic system with three degrees of freedom driven by DC motors. in SISY 2011 - 9th International Symposium on Intelligent Systems and Informatics, Proceedings. 2011;:297-301. doi:10.1109/SISY.2011.6034341 .
Samardžić, J., Lazarević, Mihailo, Cvetković, Boško, "Optimal conventional and fractional PID control algorithm for a robotic system with three degrees of freedom driven by DC motors" in SISY 2011 - 9th International Symposium on Intelligent Systems and Informatics, Proceedings (2011):297-301, https://doi.org/10.1109/SISY.2011.6034341 . .