Control Of Master-Slave System Using Optimal NPID and FOPID

Abstract

This paper presents application of Fractional Order Proportional Integral Derivative (FOPID) and Nonlinear Proportional Integral Derivative (NPID) controllers to optimally operate a master-slave robotic system. The master-slave robotic system is widely used in various applications such as power lines maintenance, surgical operations and nuclear generation. System control design and simulation is made via MATLAB/ SIMULINK 2017a. Both control schemes are made by using genetic algorithm. The controllers' parameters limits are calculated via Lyapunov stability method. The results verified the effectiveness of both control schemes than the previously applied schemes. The FOPID control scheme has better performance than NPID one.