Algerian Journal of Signals and Systems
Volume 3, Numéro 1, Pages 22-34
2018-03-31

Optimal Pso- Pid Multi -controller For A Robotic Wrist



Authors : Zennir Youcef . Mechhoud El-arkam . Seboui Ahcene . Bendib Riad .

Abstract

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.

Keywords

Robotic wrist, modeling, PSO algorithm, approximation fractional order method, PID, PSO-PID, FOPID, PSO-FOPID

Les articles similaires

Multi-model System Design Using H Multi-controllers For A Robotic Wrist

Zennir Youcef .  Larabi Mohand Said .  Guechi El Hadi .  Rezig Salaheddine . 
pages 44-53.

A New Pso-pid Variable Step Size Mppt Controller For Pv Systems Under Fast Changing Atmospheric Conditions

Messalti S. .  Harrag A. .  Loukriz A. . 
pages 555-571.

On-line Trajectory Planning Of Time-jerk Optimal For Robotic Arms

Bendali Nadir .  Ouali Mohammed . 
pages 034-044.

Optimal Placement And Sizing Of Pvdgs In Radial Distribution System Using Hybrid Pso-gsa

Zellagui Mohamed . 
pages 627-639.

Imc Multi-controller Strategies Applied On A Manipulator Robot

Zennir Y. .  Guechi E. .  Chetioui L. .  Bendib Riad . 
pages 51-62.

Formats de citation