Algerian Journal of Signals and Systems

Algerian Journal of Signals and Systems

Optimal PSO- PIλDμ Multi -Controller for a Robotic Wrist

Yazarlar: Youcef ZENNIR, El-Arkam MECHHOUD, Ahcene SEBOUI, Riad BENDIB

Cilt 3 , Sayı 1 , 2018 , Sayfalar 22-34

Konular:-

DOI:10.51485/ajss.v3i1.56

Anahtar Kelimeler:Robotics wrist,Modeling,PSO algorithm,Approximation fractional order method,PID,PSO-PID,FOPID,PSO-FOPID

Özet: 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.

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@article{2018, title={Optimal PSO- PIλDμ Multi -Controller for a Robotic Wrist}, volume={3}, number={22–34}, publisher={Algerian Journal of Signals and Systems}, author={Youcef ZENNIR, El-Arkam MECHHOUD, Ahcene SEBOUI, Riad BENDIB}, year={2018} }
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Youcef ZENNIR, El-Arkam MECHHOUD, Ahcene SEBOUI, Riad BENDIB. (2018). Optimal PSO- PIλDμ Multi -Controller for a Robotic Wrist (Vol. 3). Vol. 3. Algerian Journal of Signals and Systems.
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Youcef ZENNIR, El-Arkam MECHHOUD, Ahcene SEBOUI, Riad BENDIB. Optimal PSO- PIλDμ Multi -Controller for a Robotic Wrist. no. 22–34, Algerian Journal of Signals and Systems, 2018.
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