Neural Fractional Order PID Controllers Design for 2-Link Rigid Robot Manipulator
نویسندگان
چکیده
The robotic manipulator is considered one of the complex systems that include multi-input, multi-output, non-linearity, and highly coupled. uncertainty in parameters external disturbances have a negative influence on performance system. Therefore, controllers will be designed for these must able to deal with complexities difficulties. Proportional, Integral, Derivative (PID) controller known simple well robust, while neural network has solid ability map functions. In this paper, we propose six control structures by combining benefits PID integer fractional order networks produce hybrid 2-Link Rigid Robot Manipulator (2-LRRM) handling problem trajectory tracking. Gorilla Forces Troops Optimization algorithm (GTO) was used tune proposed schemes minimize Integral Time Square Error (ITSE). addition, robustness suggested tested altering initial position, carried out using MATLAB. best Neural Network Fractional Order Proportional Controller (NNFOPID).
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*Intelligent Research Group, Babol (Noushirvani) University of Technology, Faculty of Electrical and Computer Engineering, P.O. Box 47135-484, Babol, Iran,( [email protected]) **Hamedan university of Technology, Faculty of Electrical Engineering,([email protected]),Hamedan, Iran *** Department of Electrical, Electronic and Automation Engineering, Industrial Engineering School,University o...
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ژورنال
عنوان ژورنال: Fractal and fractional
سال: 2023
ISSN: ['2504-3110']
DOI: https://doi.org/10.3390/fractalfract7090693