论文信息 - Fractional PID Controller Tuned by Genetic Algorithms for a Three DOF`s Robot System Driven by DC Motors

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 DOF's robotic system driven by DC motors. The objective of this work is to find out the optimal settings for a fractional PI α D β 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.

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