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Robotic manipulator control based on an optimal fractional-order fuzzy PID approach: SiL real-time simulation

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Abstract

Robotic manipulator control is a challenging task due to its nonlinear, interacting multi-input–multi-output dynamics. In this paper, we proposed an optimal robust fractional-order fuzzy PID controller based on multi-objective particle swarm optimization (MOPSO) algorithm for a two-link robotic manipulator. In order to minimize position and trajectory-tracking error, MOPSO finds the optimal parameters of fuzzy membership functions and order of the fractional operators. To show the effectiveness of the proposed controller, the software-in-the-loop real-time simulation is executed, and the results are compared to conventional fuzzy PID, fractional-order PID, and linear PID controllers.

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Authors and Affiliations

  1. University of Michigan-Shanghai Jiao Tong University Joint Institute, Shanghai Jiao Tong University, Shanghai, China

    Reza Rouhi Ardeshiri

  2. Department of Engineering, Aarhus University, 8200, Aarhus N, Denmark

    Mohammad Hassan Khooban

  3. Omron Adept Technologies Inc., Pleasanton, CA, USA

    Amin Noshadi

  4. Department of Power and Control Engineering, School of Electrical and Computer Engineering, Shiraz University, Shiraz, 71348-51154, Iran

    Navid Vafamand

  5. Department of Psychological and Brain Sciences, Dartmouth College, Hanover, NH, 03755, USA

    Mohsen Rakhshan

Authors
  1. Reza Rouhi Ardeshiri
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  2. Mohammad Hassan Khooban
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  3. Amin Noshadi
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  4. Navid Vafamand
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  5. Mohsen Rakhshan
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Correspondence to Reza Rouhi Ardeshiri.

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Ardeshiri, R.R., Khooban, M.H., Noshadi, A. et al. Robotic manipulator control based on an optimal fractional-order fuzzy PID approach: SiL real-time simulation. Soft Comput 24, 3849–3860 (2020). https://doi.org/10.1007/s00500-019-04152-7

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  • DOI: https://doi.org/10.1007/s00500-019-04152-7

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