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27-05-2017 | Methodologies and Application

Optimal fractional order PID for a robotic manipulator using colliding bodies design

Authors: Reza Mohammadi Asl, Elham Pourabdollah, Milad Salmani

Published in: Soft Computing | Issue 14/2018

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Abstract

In this paper, an optimal fractional order PID controller is presented. An evolutionary algorithm, named colliding bodies optimization, is applied to tune the proposed controller. For this purpose, the algorithm is changed and developed to an adaptive version, in which it can update itself by the time. This feature helps it to converge in a shorter time comparing with the basic one. The proposed optimal controller is utilized to control different systems. Firstly, it is used to control different typical transfer functions, which some of them have time delay. Then, in order to show the proficiency of the proposed fractional order controller, it is applied to control a robotic manipulator. The comparative results of the designed optimal controller are given to show its effectiveness.

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Title: Optimal fractional order PID for a robotic manipulator using colliding bodies design
Authors: Reza Mohammadi Asl
Elham Pourabdollah
Milad Salmani
Publication date: 27-05-2017
Publisher: Springer Berlin Heidelberg
Published in: Soft Computing / Issue 14/2018
Print ISSN: 1432-7643
Electronic ISSN: 1433-7479
DOI: https://doi.org/10.1007/s00500-017-2649-9

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