Comparative Study of Fractional Order Fuzzy Controllers for Robotic Manipulator System

Abstract

A comparative analysis of fractional order PID (FOPID) controller with fractional order fuzzy sliding mode PID controller (FOFSMCPID) is presented in this research work for two-link manipulator system. FOFSMCPID is a model based controller whereas the design of FOPID controller can be performed without knowing the plant dynamics. This system shows a highly nonlinear, coupled and complex behavior. To effectively control multi-input multi-output coupled system, a controller with robust characteristics is required. For optimizing the gains of both the controllers, Cuckoo search algorithm is used whereas integral of absolute error is taken as the objective function. Comparative study reveals that FOFSMCPID controller offers better performance on FOPID controller.