A1 Journal article (refereed), original research

Optimal fractional order PID for a robotic manipulator using colliding bodies design

LUT Authors / Editors

Publication Details
Authors: Mohammadi Asl Reza, Pourabdollah Elham, Salmani Milad
Publisher: Springer Verlag (Germany)
Publication year: 2018
Language: English
Related Journal or Series Information: Soft Computing
Volume number: 22
Issue number: 14
Start page: 4647
End page: 4659
Number of pages: 13
ISSN: 1432-7643
eISSN: 1433-7479
JUFO-Level of this publication: 1
Open Access: Not an Open Access publication


In this paper, an optimal fractional order PID controller is presented.
An evolutionary algorithm, named colliding bodies optimization, is
applied to tune the proposed controller. For this purpose, the algorithm
is changed and developed to an adaptive version, in which it can update
itself by the time. This feature helps it to converge in a shorter time
comparing with the basic one. The proposed optimal controller is
utilized to control different systems. Firstly, it is used to control
different typical transfer functions, which some of them have time
delay. Then, in order to show the proficiency of the proposed fractional
order controller, it is applied to control a robotic manipulator. The
comparative results of the designed optimal controller are given to show
its effectiveness.

Last updated on 2019-13-03 at 12:00