Design of a PID control gains for a robotic manipulator under parametric uncertainties by using DE-SQP algorithm
نویسنده
چکیده
As the demand of robotic manipulator with an adequate performance under the effect parametric uncertainties is increased, the fixed PID controller requires an new approach to handle with such uncertainties. In this paper the formal formulation of a robust fixed PID control design is proposed as a constrained dynamic optimization problem. Hybrid algorithm is used to solve the problem. The empirical results show the importance of using heuristic approaches in real world optimization problem.
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