Multi-controller approach with PSO-PI^λD^μcontrollers for a robotic wrist

摘要

The paper present an architecture multi-controller based in conventional PID controller and robust Fractional PID controller (FOPID) using PSO algorithm to optimize the parameters of PID and FOPID, and improved the robustness. This approach applied to control robotics wrist (Robot RX-90 Staübli). A brief overview of the process with a non-linear and linear mathematical modeling of the process. Principle of multi-controllers approach of control is briefly presented. The recursive approximation method (ORA) of Oustaloup used to approximate the fractional order (FOPID) is presented. The structure of controllers used presented with different simulations realized. Finally a study comparative between (PID, PSO-PID, FOPID and PSO-FOPID) with obtained results has been presented and approved the efficiently of the architecture control with PSO-FOPID controller followed by a conclusion and some perspectives for future work.