Optimal conventional and fractional PID control algorithm for a robotic system with three degrees of freedom driven by DC motors
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.
Source:
SISY 2011 - 9th International Symposium on Intelligent Systems and Informatics, Proceedings, 2011, 297-301Funding / projects:
- Sustainability and improvement of mechanical systems in energetic, material handling and conveying by using forensic engineering, environmental and robust design (RS-MESTD-Technological Development (TD or TR)-35006)
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Institution/Community
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 . .