All Title Author
Keywords Abstract

Physics  2012 

Adaptive Fractional PID Controller for Robot Manipulator

Full-Text   Cite this paper   Add to My Lib


A Fractional adaptive PID (FPID) controller for a robot manipulator will be proposed. The PID parameters have been optimized by Genetic algorithm. The proposed controller is found robust by means of simulation in a tracking job. The validity of the proposed controller is shown by simulation of two-link robot manipulator. The result then is compared with integer type adaptive PID controller. It is found that when error signals in the learning stage are bounded, the trajectory of the robot converges to the desired one asymptotically.


comments powered by Disqus

Contact Us


微信:OALib Journal