Fractional PID Controller Tuned by Genetic Algorithms for a Three DOF's Robot System Driven by DC motors

Abstract

This paper presents the new algorithms of fractional order PID control based on genetic algorithms in the position control of a 3 DOF's robotic system driven by DC motors. The objective of this work is to find out the optimal settings for a fractional PIαDβ controller in order to fulfill the proposed design specifications for the closed-loop system. The effectiveness of the suggested optimal fractional PID control is demonstrated with a suitable robot with three degrees of freedom as an illustrative example.