Document Type: Original Research Paper

Authors

1 Department of Electrical Engineering, Faculty of Engineering, Fasa University, Fasa, Iran

2 Department of Electrical Engineering, Islamic Azad University, Shiraz Branch, Shiraz, Iran

Abstract

Background and Objectives: A robot arm is a multi-input multi-output and non-linear system that has many industrial applications. Parameter uncertainties and external disturbances attenuate the performance of this system and a controller design is hence necessary to overcome them.
Methods: In this paper, the interval Type II Fuzzy fractional-order proportional integral differential (IT2FO-FPID) controller is designed to control a robot arm with 2 degrees of freedom (two-link robot arm). Whale optimization algorithm (WOA) is used to determine the optimal value of controller parameters. The performance of IT2FO-FPID is compared with PID, fractional-order PID (FOPID) and Fuzzy FOPID whose parameters are determined by WOA. The performance of IT2FO-FPID whose parameters are determined by WOA, genetic algorithm, and particle swarm optimization methods are compared.
Results: Quantitative and qualitative results of simulations indicate performance improvement with the IT2FO-FPID controller. The ability of WOA in optimizing the parameters of the IT2FO-FPID controller is demonstrated.
Conclusion: Sensitivity analysis and the study of the effect of parameter variations and disturbances confirm the robust performance of WOA-based IT2FO-FPID.

Keywords

Main Subjects

[1] A. Nourollah, N. Behzadpour, "Robot arm reconfiguration to minimization moving parts," Journal of Electrical and Computer Engineering Innovations,  6(2): 227-242, 2018.

[2] R. Sharma, P. Gaur, A. Mittal, "Design of two-layered fractional-order Fuzzy logic controllers applied to robotic manipulator with variable payload," Applied Soft Computing,  47): 565-576, 2016.

[3] C. Hang, K. Astrom, W. Ho, "Refinements of the ziegler-nichols tuning formula," IEE Proceedings D-Control Theory and Applications,  138(2): 111-118, 1991.

[4] S. Sharouni, P. Naderi, N. Taghizadegan, "Driving/regeneration and stability enhancement of a 4wd hybrid vehicles using multi-stage Fuzzy controller," Journal of Electrical and Computer Engineering Innovations,  1(1): 35-42, 2013.

[5] J. L. Meza, V. Santibáñez, R. Soto, and M. A. Liama, "Fuzzy self-tuning PID semiglobal regulator for robot manipulators," IEEE Transactions on Industrial Electronics,  59(6): 2709-2717, 2012.

[6] A. Kumar, V. Kumar, "Evolving an interval type-2 Fuzzy PID controller for the redundant robotic," Expert Systems with Applications,  73: 161-177, 2017.

[7] J. Mukherjee, S. Mukherjee, I. Narayan Kar, "Sliding mode control of planar snake robot with uncertainty using virtual holonomic constraints," IEEE Robotics and Automation Letters,  2(2): 1077-1084, 2017.

[8] S. Massou, I. Boumhidi, "Optimal neural network-based sliding mode adaptive control for two-link robot," International Journal of Systems, Control and Communications,  8(3): 204-216, 2017.

[9] I. Podlubny, "Fractional-order systems and PID-controllers, " IEEE Trans Automatic Control,  44(1): 208-214, 1999.

[10] R. Sharma, P. Gaur, A. Mittal, "Performance analysis of two-degree of freedom fractional-order PID controllers for robotic manipulator with payload," ISA Transaction,  58: 279-291, 2015.

[11] S. Das, I. Pan, A. Gupta, "A novel fractional-order Fuzzy PID controller and its optimal time domain tuning based on integral performance indices," Engineering Applications of Artificial Intelligence,  25(2): 430-442, 2012.

[12] Y. Arya, N. Kumar, "BFOA-scaled fractional-order Fuzzy PID controller applied to AGC of multi- area multi-source electric power generating systems," Swarm and Evolutionary Computation,  32: 202-218, 2016.

[13] R. Sharma, P. Gaur, A. Mittal, "Optimum design of fractional-order hybrid Fuzzy logic controller for a robotic manipulator," Arabian Journal for Science and Engineering,  42(2): 739-750, 2017.

[14] A. Kumar, V. Kumar, "A novel interval type-2 fractional-order Fuzzy PID controller: Design, performance evaluation, and its optimal time domain tuning," ISA Transaction,  68: 251-275, 2017.

[15] R. Sharma, K. Rana, V. Kumar, "Performance analysis of fractional-order Fuzzy PID controllers applied to a robotic manipulator," Expert Systems with Applications,  41(9): 4274-4289, 2014.

[16] S. Mirjalili, A. Lewis, "The Whale optimization algorithm," Advances in Engineering Software,  95: 51-67, 2016.

[17] A. Kumar, V. Kumar, "Hybridized ABC-GA optimized fractional-order Fuzzy pre-compensated FOPID control design for 2-DOF robot manipulator," AEU - International Journal of Electronics and Communications,  79: 219-233, 2017.

[18] C. Muresan, C. Ionescu, S. Folea, R. D. Ke, "Fractional-order control of unstable processes: the magnetic levitation study case," Nonlinear Dynamics,  80: 1761-1772, 2015.

[19] I. Pan, S. Das, "Fractional-order load-frequency control of interconnected power systems using chaotic multi- objective optimization," Applied Soft Computing,  29: 328-344, 2015.

[20] Y. Chen, D. Wang, W. Ning, "Studies on centroid type-reduction algorithms for general type-2 Fuzzy logic systems," Int. J. Innovative Comput., Inf. Control,  11(6): 1987-2000, 2015.