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Journal of Artificial Intelligence in Electrical Engineering
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akbari, M. (2017). Design of PID Controller for Teleopration System with Genetic Algorithm. Journal of Artificial Intelligence in Electrical Engineering, 6(21), 1-7.
Mohammad Esmaeil akbari. "Design of PID Controller for Teleopration System with Genetic Algorithm". Journal of Artificial Intelligence in Electrical Engineering, 6, 21, 2017, 1-7.
akbari, M. (2017). 'Design of PID Controller for Teleopration System with Genetic Algorithm', Journal of Artificial Intelligence in Electrical Engineering, 6(21), pp. 1-7.
akbari, M. Design of PID Controller for Teleopration System with Genetic Algorithm. Journal of Artificial Intelligence in Electrical Engineering, 2017; 6(21): 1-7.

Design of PID Controller for Teleopration System with Genetic Algorithm

Article 1, Volume 6, Issue 21, Spring 2017, Page 1-7  XML PDF (122.61 K)
Document Type: Original Article
Author
Mohammad Esmaeil akbari email
Director-in-Charge
Abstract
This paper presents a novel teleoperation controller for a nonlinear master–slave robotic system with constant time delay in communication channel. The proposed controller enables the teleoperation system to compensate human and environmental disturbances, while achieving master and slave position coordination in both free motion and contact situation. The current work basically extends the passivity based architecture upon the earlier work of Lee and Spong (2006) [14] to improve position tracking and consequently transparency in the face of disturbances and environmental contacts. The proposed controller employs a PID controller in each side to overcome some limitations of a PD controller and guarantee an improved with genetic algorithm is investigated. We wanted to build on the controller can be designed as desired, and the optimal coefficients are obtained.
Keywords
Teleopration systems; master slave robot; Time delay; Genetic Algorithm; PID Controller
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