Abstract
The robotic manipulators are complex and coupled nonlinear systems. Therefore, the designing of an effective controller for these systems is quite complicated. The main hurdle in operating these systems is the inter-linkage between the links, and this can be removed by using any decoupling method. The decoupling between the links is not a good idea from the viewpoint of practical applications. In this paper, a fractional-order hybrid fuzzy logic controller (FOHFLC) scheme is developed for a two-degree-of-freedom rigid planar robotic manipulator with payload (2-DOF RPRMWP) plant for the trajectory tracking. The cuckoo search algorithm (CSA) is utilized for finding the optimal parameters of the proposed approach. For witnessing the effectiveness, the performance of proposed FOHFLC scheme is compared with integer-order hybrid FLC (IOHFLC) approach and conventional PID controller. The robustness testing is investigated for parameter variations and disturbance rejection for the proposed controller schemes.
Article PDF
Similar content being viewed by others
Explore related subjects
Discover the latest articles, news and stories from top researchers in related subjects.Avoid common mistakes on your manuscript.
References
Lian, R.-J.; Lin, B.-F.: Design of a mixed fuzzy controller for multiple-input multiple-output systems. Mechatronics 15, 1225–1252 (2005)
Lee, C.C.: Fuzzy logic in control systems: fuzzy logic controller-part 1. IEEE Trans. Syst. Man Cybern. 20(2), 404–418 (1990)
Ohtani, Y.; Yoshimura, T.: Fuzzy control of a manipulator using the concept of sliding mode. Int. J. Syst. Sci. 27(2), 179–186 (1996)
Hazzab, A.; Bousserhane, I.K.; Zerbo, M.; Sicard, P.: Real-time implementation of fuzzy gain scheduling of PI controller for induction motor machine control. Neural Process. Lett. 24, 203–215 (2005)
Xu, C.; Shin, Y.C.: A multilevel fuzzy control design for a class of multi input single-output systems. IEEE Trans. Ind. Electron. 59(8), 3113–3123 (2012)
Huo, B.; Li, Y.; Tong, S.: Fuzzy adaptive fault-tolerant output feedback control of multi-input and multi-output non-linear systems in strict-feedback form. IET Control Theory Appl. 6(17), 2704–2715 (2012)
Tong, S.; Sui, S.; Li, Y.: Fuzzy adaptive output feedback control of MIMO nonlinear systems with partial tracking errors constrained. IEEE Trans. Fuzzy Syst. 23(4), 729–742 (2015)
Yadav, A.K.; Gaur, P.: An optimized and improved STF-PID speed control of throttle controlled HEV. Arab. J. Sci. Eng. 41(9), 1–12 (2016)
Su, Y.; Xu, L.; Li, D.: Adaptive fuzzy control of a class of MIMO nonlinear system with actuator saturation for greenhouse climate control problem. IEEE Trans. Autom. Sci. Eng. 13(2), 772–788 (2016)
Song, Z.; Yi, J.; Zhao, D.; Li, X.: A computed torque controller for uncertain robotic manipulator systems: fuzzy approach. Fuzzy Sets Syst. 154, 208–226 (2005)
Meza, J.L.; Santianez, V.; Soto, R.; Llama, M.A.: Fuzzy self-tuning PID semiglobal regulator for robotic manipulators. IEEE Trans. Ind. Electron. 59(6), 2709–2717 (2012)
Chu, Z.Y.; Cui, J.; Sun, F.: Fuzzy adaptive disturbance-observer based robust tracking control of electrically driven free-floating space manipulator. IEEE Syst. J. 8(2), 343–351 (2014)
Chiu, C.-S.: Mixed feedforward/feedback based adaptive fuzzy control for a class of MIMO nonlniear systems. IEEE Trans. Fuzzy Syst. 14(6), 716–727 (2006)
Baghli, F.Z.; Bakkali, L.E.; Lakhal, Y.: Multi-input multi-output fuzzy logic controller for complex system: application on two-links manipulator. Proc. Technol. 19, 607–614 (2015)
Das, S.; Pan, I.; Das, S.; Gupta, A.: A novel fractional order fuzzy PID controller and its optimal time domain tuning based on integral performance indices. Eng. Appl. Artif. Intell. 25, 430–442 (2012)
Das, S.; Pan, I.; Das, S.: Performance comparison of optimal fractional order hybrid fuzzy PID controllers for handling oscillatory fractional order processes with dead time. ISA Trans. 52, 550–566 (2013)
Sharma, R.; Rana, K.P.S.: Performance analysis of fractional order fuzzy PID controllers applied to a robotic manipulator. Expert Syst. Appl. 41, 11335–11346 (2014)
Hajiloo, A.; Xie, W.-F.: Fuzzy fractional-order PID controller design using multi-objective optimization. In: Proceedings of IFSA World Congress and NAFIPS Annual meeting 2013 Joint, Edmonton, 24–28 June 2013
Lin, F.: Robust Control Design: An Optimal Control Approach. Wiley, Chichester (2007)
Oustaloup, A.; Levron, F.; Mathieu, B.; Nanot, F.M.: Frequency-band complex noninteger differentiator: characterization and synthesis. IEEE Trans. Circuits Syst. I: Fundam. Theory Appl. 47(1), 25–39 (2000)
Tang, Y.; Cui, M.; Hua, C.; Li, L.; Yang, Y.: Optimum design of fractional order \(\text{ PI }^{\lambda }\text{ D }^{\mu }\) controller for AVR system using chaotic ant swarm. Expert Syst. Appl. 39, 6887–6896 (2012)
Pan, I.; Das, S.: Chaotic multi-objective optimization based design of fractional order \(\text{ PI }^{\lambda }\text{ D }^{\mu }\) controller in AVR system. Electr. Power Energy Syst. 43, 393–407 (2012)
Yang, X.S.; Deb, S.: Cuckoo Search via Lévy flights. In: Proceedings World Congress on Nature and Biologically Inspired Computing India, pp. 210–214 (2009)
Gandomi, A.H.; Yang, X.-S.; Alavi, A.H.: Cuckoo search algorithm: a metaheuristic approach to solve structural optimization problems. Eng. Comput. 29, 17–35 (2013)
Rajabioun, R.: Cuckoo optimization algorithm. Appl. Soft Comput. 11, 5508–5518 (2011)
Yang, X.-S.; Deb, S.: Engineering optimization by cuckoo search. Int. J. Math. Modell. Numer. Optim. 1(4), 330–343 (2010)
Tan, W.S.; Hassan, M.Y.; Majid, M.S.; Rahman, H.A.: Allocation and Sizing of DG using cuckoo search algorithm. In: 2012 IEEE International Conference on Power and Energy (PEcon) Kota Kinabalu Sabah, Malaysia, pp. 133–8 (2012)
Yildiz, A.R.: Cuckoo search algorithm for the selection of optimal machining parameters in milling operations. Int. J. Adv. Manuf. Technol. 64(1–4), 55–61 (2013)
Bulatovic, R.R.; Dordevic, S.R.; Dordevic, V.S.: Cuckoo search algorithm: a metaheuristic approach to solving the problem of optimum synthesis of a six-bar double dwell linkage. Mech. Mach. Theory 61, 1–13 (2013)
Ayala, H.V.H.; Coelho, L.D.S.: Tuning of PID controller based on a multiobjective genetic algorithm applied to a robotic manipulator. Expert Syst. Appl. 39, 8968–8974 (2012)
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Sharma, R., Gaur, P. & Mittal, A.P. Optimum Design of Fractional-Order Hybrid Fuzzy Logic Controller for a Robotic Manipulator. Arab J Sci Eng 42, 739–750 (2017). https://doi.org/10.1007/s13369-016-2306-0
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s13369-016-2306-0