کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
4953965 1443121 2017 24 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Hybridized ABC-GA optimized fractional order fuzzy pre-compensated FOPID control design for 2-DOF robot manipulator
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر شبکه های کامپیوتری و ارتباطات
پیش نمایش صفحه اول مقاله
Hybridized ABC-GA optimized fractional order fuzzy pre-compensated FOPID control design for 2-DOF robot manipulator
چکیده انگلیسی
The robotic manipulator is an extremely nonlinear, multi-input multi-output (MIMO), highly coupled, and complex system wherein the parameter uncertainties and external disturbances adversely affect the performance of this system. From this, it necessitates that the controllers designed for such system must overcome these complexities. In this paper, we develop a novel fractional order fuzzy pre-compensated fractional order PID (FOFP-FOPID) controller for 2-degree of freedom (2-DOF) manipulator dealing with trajectory tracking problem. In order to optimize the controller's parameters while minimizing integral of time absolute error (ITAE), a metaheuristic optimization technique, viz., artificial bee colony-genetic algorithm (ABC-GA) is presented. The efficacy of our proposed controller is demonstrated by comparing it with some existing controllers, such as integer order fuzzy pre-compensated PID (IOFP-PID), fuzzy PID (FPID), and conventional PID controllers. Furthermore, the robustness analysis for proposed controllers is also investigated for parameter variations and external disturbances. The simulation results indicate that FOFP-FOPID controller can not only guarantee the best trajectory tracking but also ameliorate the system robustness for parameter variations as well as external disturbances.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: AEU - International Journal of Electronics and Communications - Volume 79, September 2017, Pages 219-233
نویسندگان
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