Optimal PSO- PIλDμ Multi -Controller for a Robotic Wrist
Keywords:Robotics wrist, Modeling, PSO algorithm, Approximation fractional order method, PID, PSO-PID, FOPID, PSO-FOPID
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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Copyright (c) 2018 Youcef ZENNIR, El-Arkam MECHHOUD, Ahcene SEBOUI, Riad BENDIB
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