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

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  • Reza Rouhi Ardeshiri, University of Michigan-Shanghai Jiao Tong University Joint InstituteShanghai Jiao Tong University
  • ,
  • Mohammad Hassan Khooban
  • Amin Noshadi, Omron Adept Technologies Inc
  • ,
  • Navid Vafamand, Shiraz University
  • ,
  • Mohsen Rakhshan, Dartmouth College, Hanover, NH

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.

TidsskriftSoft Computing
Sider (fra-til)3849-3860
Antal sider12
StatusUdgivet - mar. 2020

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