Position Control of Arm Manipulator within Fractional Order PID Utilizing Particle Swarm Optimization Algorithm

Tasneem Mohamed Ahmed, Amr Nasr A.E. Gaber, Ragi Hamdy, Ayman S. Abdel-Khalik

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Rigid robots can be used in several industrial applications including assembly of electronic parts, welding and dangerous jobs that have danger in human life. In this paper the main goal is to control the position of a 2-DOF robot arm. Proportional Integration-Derivative (PID) controller can perform this work but its robustness cannot be guaranteed. Another controller with a higher sensitivity and accuracy is required. Fractional Order PID (FOPID) controller is adopted for such a task. The controller parameters are optimized using Particle Swarm Optimization (PSO) approach. The robot arm is used in order to move objects from one point to another so it is proposed a FOPID controller to eliminate the error between the desired trajectory and the actual displacement of the robot end-effector.

Original languageEnglish
Title of host publicationIEEE Conference on Power Electronics and Renewable Energy, CPERE 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages135-139
Number of pages5
ISBN (Electronic)9781728109107
DOIs
Publication statusPublished - Oct 2019
Event2019 IEEE Conference on Power Electronics and Renewable Energy, CPERE 2019 - Aswan City, Egypt
Duration: 23 Oct 201925 Oct 2019

Publication series

NameIEEE Conference on Power Electronics and Renewable Energy, CPERE 2019

Conference

Conference2019 IEEE Conference on Power Electronics and Renewable Energy, CPERE 2019
CountryEgypt
CityAswan City
Period23/10/1925/10/19

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Keywords

  • 2-DOF robot
  • FOPID controller
  • Particle Swarm Optimization

ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Renewable Energy, Sustainability and the Environment
  • Electrical and Electronic Engineering
  • Control and Optimization

Cite this

Ahmed, T. M., Gaber, A. N. A. E., Hamdy, R., & Abdel-Khalik, A. S. (2019). Position Control of Arm Manipulator within Fractional Order PID Utilizing Particle Swarm Optimization Algorithm. In IEEE Conference on Power Electronics and Renewable Energy, CPERE 2019 (pp. 135-139). [8980077] (IEEE Conference on Power Electronics and Renewable Energy, CPERE 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CPERE45374.2019.8980077