Trajectory Following of an Industrial Robot using Optimized Fractional Order PID Controller

Aminreza Riahi; Saeed Balochian

In this paper, the multi-variable control of a two-link robot is considered. Industrial robots, such as robot of two degrees, are the highest acceptable robots in industry and academic environments. Because of the dynamic control of the new challenges the Multi-input, multi-output systems face, which can obtain robust control methods, this deficiency leads to excessive minimum value. In this paper an optimized fractional order PID controller by genetic algorithm and pattern search algorithm is used to control robot trajectory. As a result, the ability to have disturbance rejection system has a major impact on total control.

Select Volume / Issues:

• Volume 5,Issue 4, July 2014

Year:

2014

Type of Publication:

Article

Keywords:

Robotics; 2 Link Robot; Fractional Order PID; Genetic Algorithm; Pattern Search Algorithm

Journal:

IJECCE

Volume:

5

Number:

4

Pages:

983-989

Month:

July