Artificial bee colony based design of the interval type-2 fuzzy PID controller for robot manipulator

摘要

The robot manipulators are an extremely nonlinear MIMO and highly coupled system. Further, the performances of the controlled systems are adversely affected by the existence of model uncertainties and disturbances. Therefore, the controller design for robotic systems is a difficult task for controller developer. In this paper, a novel application of the artificial bee colony (ABC) algorithm to optimize the antecedent MFs of interval type-2 fuzzy PID controller (IT2FPID) is proposed for robot manipulators for trajectory tracking problem. In order to show a fair comparison, the tuning of controllers parameter is done with ABC optimization techniques. For investigating the effectiveness, the robustness analysis is also investigated for model uncertainties and disturbance rejections. After simulations studies and comparison with conventional controllers, it is found that IT2FPID controller can not only guarantee best trajectory tracking but also improve the system robustness for model uncertainties and disturbance rejection.