Author(s):
1. Mihailo Lazarevic, Mašinski fakultet Univerziteta u Beogradu, Serbia
2. Nikola Djurovic, Serbia

Abstract:
This paper presents new algorithms of fractional order PD/PDD/PID control based on swarm (PSO) and genetic algorithms (GA) in the control of a 3 DOF`s robotic system driven by DC motors. The optimal settings for a fractional controller as well as integer order PID controller (IOPID) are done, applying GA/PSO tuning approach and their extension for FOPID–IOPID controllers in a comparative manner. The effectiveness of the suggested optimal FOPID control is demonstrated with a given robotic system as an illustrative example.

Key words:
robotics,fractional order control,PD/PDD controller,swarm optimization,genetic algorithms,

Thematic field:
Mechatronics and Information Technology

Date of abstract submission:
03.03.2015.

Conference:
12th International conference on accomplishments in Electrical and Mechanical Engineering and Information Technology (DEMI 2015)

Final paper