2024
DOI: 10.11591/ijeecs.v33.i3.pp1500-1510
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Fractional-order PID controller tuned by particle swarm optimization algorithm for a planar CDPR control

Hemama Aboud,
Ammar Amouri,
Abdelhakim Cherfia
et al.

Abstract: The use of cable-driven parallel robots (CDPRs) has been steadily increasing across various sectors due to their expansive workspaces, impressive payload-to-mass ratios, and cost-effective designs. Controlling these robots, particularly those with substantial actuation redundancy, can present challenges. This research paper proposes the implementation of a fractionalorder proportional-integral-derivative (FOPID) controller to effectively regulate the end-effector of a planar CDPR with four actuation cables. Th… Show more

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