1. Mihailo Lazarevic, Mašinski fakultet Univerziteta u Beogradu, Serbia
2. Nikola Djurovic, Serbia

This paper presents new algorithms of fractional order PD/PDD/PID control based on swarm (PSO) and genetic algorithms (GA) in the control of a 3 DOF`s robotic system driven by DC motors. The optimal settings for a fractional controller as well as integer order PID controller (IOPID) are done, applying GA/PSO tuning approach and their extension for FOPID–IOPID controllers in a comparative manner. The effectiveness of the suggested optimal FOPID control is demonstrated with a given robotic system as an illustrative example.

Ključne reči : robotics fractional order control PD/PDD controller swarm optimization genetic algorithms https://ekonferencije.com/sr1/kljucne-rijeci

Tematska oblast: Mechatronics and Information Technology

Datum: 03.03.2015.

12th International conference on accomplishments in Electrical and Mechanical Engineering and Information Technology (DEMI 2015)

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