Optimal PSO- PIλDμ Multi -Controller for a Robotic Wrist

Youcef ZENNIR, El-Arkam MECHHOUD, Ahcene SEBOUI, Riad BENDIB
2018 Algerian journal of signals and systems  
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
more » ... sented discussed and approved the efficiently of the architecture control with PSO-FOPID controller followed by a conclusion and some perspectives for future work.
doi:10.51485/ajss.v3i1.56 fatcat:bdpvsggyanaidl6qby73i76mhu