Open AccessOptimal PSO- PIλDμ Multi -Controller for a Robotic Wrist
Author(s) -
Youcef Zennir,
El-Arkam Mechhoud,
Ahcene Seboui,
Horst Schulte
Publication year - 2018
Publication title -
algerian journal of signals and systems
Language(s) - English
Resource type - Journals
eISSN - 2676-1548
pISSN - 2543-3792
DOI - 10.51485/ajss.v3i1.56
Subject(s) - pid controller , control theory (sociology) , robotics , particle swarm optimization , controller (irrigation) , robot , computer science , control engineering , artificial intelligence , engineering , control (management) , algorithm , temperature control , agronomy , biology
Comparative study between to approach of control based in conventional PID controller and robust Fractional PID controller (FOPID) using PSO algorithm applied to control robotics wrist (Robot RX-90 Staübli). The mathematic model of robot are described follows by design of architecture control. two approximation method of fractional order are used and finally a different simulation study comparative between (PID, PSO-PID, FOPID and PSO-FOPID) with obtained results has been presented discussed and approved the efficiently of the architecture control with PSO-FOPID controller followed by a conclusion and some perspectives for future work.