OPTIMAL IMPROVED PID CONTROLLER WITH GOA ALGORITHM FOR SINGLE LINK HUMAN LEG ROBOT
نویسندگان
چکیده
A Human Leg Robot (HLR) is a type of manipulator robot that has non-linear, quality, time-varying behaviors and uncertainty in parameters. Therefore, it must be controlled. The purpose this work to design an optimal Improved Proportional-Integral-Derivative (IPID) controller for improve its performance tracking the desired path. Two schemes IPID controllers are suggested enhance traditional PID controlling human leg following Grasshopper Optimization Algorithm (GOA) considered optimize structures been compared methods. simulation results show efficiency these was enough handle problems HLR.
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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: Journal of Engineering and Sustainable Development
سال: 2022
ISSN: ['2520-0917', '2520-0925']
DOI: https://doi.org/10.31272/jeasd.26.2.10