Tuning of Fractional Order PID Controller using CS Algorithm for Trajectory Tracking Control

被引：0

作者：

Ataslar-Ayyildiz, Banu ^{[1
]}

Karahan, Oguzhan ^{[1
]}

机构：

[1] Kocaeli Univ, Dept Elect & Commun Engn, Kocaeli, Turkey

来源：

2018 6TH INTERNATIONAL CONFERENCE ON CONTROL ENGINEERING & INFORMATION TECHNOLOGY (CEIT) | 2018年

关键词：

fractional order PID; PID; three DOF manipulator; trajectory tracking; Cuckoo search algorithm; PERFORMANCE ANALYSIS; SYSTEMS; DESIGN;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This study deals with a fractional order PfD (FOPID) controller tuned by Cuckoo Search (CS) algorithm for the trajectory tracking control of a highly nonlinear 3 DOF robotic manipulator. For the purpose of comparison, a traditional PED controller is also tuned by CS. In order to optimize the controllers' parameters, four different time domain cost functions are used. The robustness test of the tuned controllers is also investigated for a different trajectory. Finally, the simulation results reveal that the proposed FOPID controller can not only assure excellent tracking performance in Joint space, but also improves the robustness of the system for the different trajectory.

引用

页数：6

共 50 条

[31] Whale optimizer algorithm to tune PID controller for the trajectory tracking control of robot manipulator
Fatiha Loucif
Sihem Kechida
Abdennour Sebbagh
Journal of the Brazilian Society of Mechanical Sciences and Engineering, 2020, 42
[32] Tuning of Fractional Order PID Controller Using Particle Swarm Optimization Technique for DC Motor Speed Control
Jain, Ruchi V.
Aware, M. V.
Junghare, A. S.
PROCEEDINGS OF THE FIRST IEEE INTERNATIONAL CONFERENCE ON POWER ELECTRONICS, INTELLIGENT CONTROL AND ENERGY SYSTEMS (ICPEICES 2016), 2016,
[33] Load Frequency Control of a Microgrid using Fractional Order PID Controller
Michael, Chibuoke
Tola, Omokhafe J.
Nwohu, M. N.
Ambafi, James G.
2022 IEEE NIGERIA 4TH INTERNATIONAL CONFERENCE ON DISRUPTIVE TECHNOLOGIES FOR SUSTAINABLE DEVELOPMENT (IEEE NIGERCON), 2022, : 460 - 464
[34] Control of Quadratic boost converter using Fractional order PID controller
Sivaraj, D.
Arounassalame, M.
2017 INNOVATIONS IN POWER AND ADVANCED COMPUTING TECHNOLOGIES (I-PACT), 2017,
[35] OPTIMAL FREQUENCY CONTROL IN MICROGRID SYSTEM USING FRACTIONAL ORDER PID CONTROLLER USING KRILL HERD ALGORITHM
Regad, M.
Helaimi, M.
Taleb, R.
Gabbar, H.
Othman, A.
ELECTRICAL ENGINEERING & ELECTROMECHANICS, 2020, (02) : 68 - 74
[36] Fractional Order PID Control Law for Trajectory Tracking Using Fractional Order Time-Delay Recurrent Neural Networks for Fractional Order Complex Dynamical Systems
Perez P, Joel
Perez, Jose P.
Perez P, Ruben
Flores H, Angel
COMPUTACION Y SISTEMAS, 2019, 23 (04): : 1583 - 1591
[37] Design and optimal tuning of fractional order PID controller for paper machine headbox using jellyfish search optimizer algorithm
Nataraj, Divya
Subramanian, Manoharan
SCIENTIFIC REPORTS, 2025, 15 (01):
[38] Fractional order PID controller for load frequency control
Sondhi, Swati
Hote, Yogesh V.
ENERGY CONVERSION AND MANAGEMENT, 2014, 85 : 343 - 353
[39] A fractional order PID controller tuning via PSO of Cuk converter
Xiong B.
Kong Q.
Chen X.
Kong, Qingsheng (qskong@fudan.edu.cn), 1600, Inderscience Publishers, 29, route de Pre-Bois, Case Postale 856, CH-1215 Geneva 15, CH-1215, Switzerland (12): : 147 - 153
[40] A Comparative Study on Design and Tuning of Integer and Fractional Order PID Controller
Jatoth, Ravi Kumar
Kishore, Venu K.
Bhookya, Nagu
Ramesh, G.
2014 PROCEEDINGS OF THE 6TH INTERNATIONAL CONFERENCE ON MODELLING, IDENTIFICATION & CONTROL (ICMIC), 2014, : 160 - 165

← 1 2 3 4 5 →