Control Of Master-Slave System Using Optimal NPID and FOPID

被引：0

作者：

Rashad, Sara A. ^{[1
]}

Sallam, Mohamed ^{[2
]}

Bassiuny, A. M. ^{[2
]}

Abdelghany, A. M. ^{[3
]}

机构：

[1] Heliopolis Univ, Mechatron Engn Dept, Cairo, Egypt

[2] Helwan Univ, Mech Engn Dept, Cairo, Egypt

[3] October 6 Univ, Elect Engn Dept, Cairo, Egypt

来源：

2019 IEEE 28TH INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS (ISIE) | 2019年

关键词：

FOPID; NPID; Mater Slave Robotics and Genetic algorithm; BILATERAL TELEOPERATION; INTERNET; DELAY;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper presents application of Fractional Order Proportional Integral Derivative (FOPID) and Nonlinear Proportional Integral Derivative (NPID) controllers to optimally operate a master-slave robotic system. The master-slave robotic system is widely used in various applications such as power lines maintenance, surgical operations and nuclear generation. System control design and simulation is made via MATLAB/ SIMULINK 2017a. Both control schemes are made by using genetic algorithm. The controllers' parameters limits are calculated via Lyapunov stability method. The results verified the effectiveness of both control schemes than the previously applied schemes. The FOPID control scheme has better performance than NPID one.

引用

页码：485 / 490

页数：6

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