A fractional order fuzzy PD+I controller for three-link electrically driven rigid robotic manipulator system

摘要

In this paper, a robust fractional order fuzzy proportional derivative plus fractional order integrator (FOFPD+FOI) control structure is proposed to effectively control a nonlinear, coupled, multi-input multi-output, electrically driven three-link rigid robotic manipulator (EDRRM) system. The FOFPD+FOI controller is realized by using non-integer order differentiator and integrating operators in the integer order fuzzy proportional derivative plus integer order integrator (IOFPD+IOI) controller. A comparative study is carried out to assessed the performance of FOFPD+FOI controller with IOFPD+IOI controller, fractional order proportional, integral and derivative (FOPID) controller and integer order PID controller for reference trajectory tracking, noise suppression, disturbance rejection and model uncertainty. The gains of the controllers were tuned using a meta-heuristic optimization technique cuckoo search algorithm for objective function which is defined as the weighted sum of integral of absolute error and integral of absolute change in controller output. The simulation studies reveal that proposed FOFPD+FOI controller offers much superior performance over PID, FOPID and IOFPD+IOI controllers.