Optimal conventional and fractional PID control algorithm for a robotic system with three degrees of freedom driven by DC motors

dc.creator	Samardžić, J.
dc.creator	Lazarević, Mihailo
dc.creator	Cvetković, Boško
dc.date.accessioned	2022-09-19T16:45:46Z
dc.date.available	2022-09-19T16:45:46Z
dc.date.issued	2011
dc.identifier.uri	https://machinery.mas.bg.ac.rs/handle/123456789/1325
dc.description.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.	en
dc.relation	info:eu-repo/grantAgreement/MESTD/Technological Development (TD or TR)/35006/RS//
dc.rights	restrictedAccess
dc.source	SISY 2011 - 9th International Symposium on Intelligent Systems and Informatics, Proceedings
dc.title	Optimal conventional and fractional PID control algorithm for a robotic system with three degrees of freedom driven by DC motors	en
dc.type	conferenceObject
dc.rights.license	ARR
dc.citation.epage	301
dc.citation.other	: 297-301
dc.citation.rank	M33
dc.citation.spage	297
dc.identifier.doi	10.1109/SISY.2011.6034341
dc.identifier.scopus	2-s2.0-80054794125
dc.type.version	publishedVersion