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    An improved meta-heuristic algorithm to optimize the fractional-order controller for an industrial manipulator with a parallelogram structure by Nazila Nikdel

    Published 2023-09-01
    “…Criteria such as operation time and response speed, control cost, and system error need to be controlled by providing appropriate methods to ensure the successful performance of industrial operations. Therefore, this article pursues two main objectives: 1) controlling the robotic system by presenting a method based on fractional-order calculus so that it can control the system despite its complexity and non-linearity, 2) presenting the meta-heuristic algorithm "Improved Grey Wolf" to optimize the system response.Methodology: First, the mathematical model of the robot is presented based on Lagrange rules, and then the fractional-order calculus is used to design the controller. …”
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