A General Framework for Optimal Tuning of PID-like Controllers for Minimum Jerk Robotic Trajectories - Oliveira, Phelipe W.; Barreto, Guilherme A.; Thé, George A. P. (Journal of intelligent & robotic systems, 2020)
Keywords: Accuracy; Algorithms; Artificial Intelligence; Control; Control algorithms; Controllers; Electrical Engineering; Engineering; Kinematics; Mathematical optimization; Mechanical Engineering; Mechatronics; Optimization; Particle swarm optimization; Performance indices; Proportional integral derivative; Robot arms; Robot dynamics; Robot learning; Robotics; Robots; Tracking; Tracking control; Trajectory planning; Tuning; Performance indices; Fractional PID controller; Minimum jerk principle; Robot control; Particle swarm optimization