Optimal Design of Fuzzy Fractional Order PI λ D µ Controller for Redundant Robot

摘要

The aim of this paper is to compare the performances of new fuzzy fractional order (FO) PID (fuzzy PIλDµ) controller with integer order fuzzy PID and PID controllers for controlling redundant robotic system for trajectory tracking problems. A five-degree of freedom (5-DOF) redundant manipulator is an MIMO, and extremely non-linear system. The performances of the controlled system are poorly affected by the presence model uncertainties and external disturbances. Thus, controller design for redundant robot system is difficult job for controller designer. The tuning of each controller’s parameters is completed with artificial bee colony (ABC) optimization techniques. For investigating the effectiveness, the robustness testing is also investigated for model uncertainties and disturbance rejection. After many numerical simulations and comparison with conventional controller i.e. fuzzy PID and PID controllers, it is found that fuzzy PIλDµ controller can not only promise best trajectory tracking but also meliorate the plant robustness for model uncertainties and disturbance rejection.