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

2018 ◽  
Author(s):  
Banu Ataslar-Ayyildiz ◽  
Oguzhan Karahan
Keyword(s):  
Fractional Order ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Pid Controller ◽  
Trajectory Tracking Control ◽  
Fractional Order Pid ◽  
Fractional Order Pid Controller

scholarly journals Fractional order PID controller tuned by bat algorithm for robot trajectory control

2021 ◽  
Vol 21 (1) ◽  
pp. 74
Author(s):  
Mohammad A. Faraj ◽  
Abdulsalam Mohammed Abbood
Keyword(s):  
Fractional Order ◽  
Tracking Control ◽  
Bat Algorithm ◽  
Robotic Manipulators ◽  
Pso Algorithm ◽  
Objective Functions ◽  
Trajectory Tracking Control ◽  
Robot Trajectory ◽  
Fractional Order Pid ◽  
Fractional Order Pid Controller

<span>This paper deals with implementing the tuning process of the gains of fractional order proportional-integral-derivative (FOPID) controller designed for trajectory tracking control for two-link robotic manipulators by using a Bat algorithm. Two objective functions with weight values assigned has been utilized for achieving the minimization operation of errors in joint positions and torque outputs values of robotic manipulators. To show the effectiveness of using a Bat algorithm in tuning FOPID parameters, a comparison has been made with particle swarm optimization algorithm (PSO). The validity of the proposed controllers has been examined in case of presence of disturbance and friction. The results of simulations have clearly explained the efficiency of FOPID controller tuned by Bat algorithm as compared with FOPID controller tuned by PSO algorithm. </span>

scholarly journals Optimal Trajectory Tracking Control for a Wheeled Mobile Robot Using Fractional Order PID Controller

2018 ◽  
Vol 26 (4) ◽  
pp. 292-306 ◽  
Author(s):  
Ameer L. Saleh ◽  
Maab A. Hussain ◽  
Sahar M. Klim
Keyword(s):  
Mobile Robot ◽  
Fractional Order ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Dynamic Models ◽  
Dynamic Performance ◽  
Pso Algorithm ◽  
Wheeled Mobile Robot ◽  
Trajectory Tracking Control ◽  
Fractional Order Pid

This paper present an optimal Fractional Order PID (FOPID) controller based on Particle Swarm Optimization (PSO) for controlling the trajectory tracking of Wheeled Mobile Robot(WMR).The issue of trajectory tracking with given a desired reference velocity is minimized to get the distance and deviation angle equal to zero, to realize the objective of trajectory tracking a two FOPID controllers are used for velocity control and azimuth control to implement the trajectory tracking control. A path planning and path tracking methodologies are used to give different desired tracking trajectories.  PSO algorithm is using to find the optimal parameters of FOPID controllers. The kinematic and dynamic models of wheeled mobile robot for desired trajectory tracking with PSO algorithm are simulated in Simulink-Matlab. Simulation results show that the optimal FOPID controllers are more effective and has better dynamic performance than the conventional methods.

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