Fractional PID controller tuned by genetic algorithms for a three DOF's robot system driven by DC motors

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.