WOA-based Interval Type II Fuzzy Fractional-order Controller Design for a Two-Link Robot Arm

Jamshidi, F.; Vaghefi, M.

doi:10.22061/jecei.2019.5783.256

Document Type : Original Research Paper

Authors

F. Jamshidi ¹
M. Vaghefi ²

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

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

https://doi.org/10.22061/jecei.2019.5783.256

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

20.1001.1.23223952.2019.7.1.8.0

Main Subjects

Artificial Intelligence

Open Access

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Journal of Electrical and Computer Engineering Innovations (JECEI)

WOA-based Interval Type II Fuzzy Fractional-order Controller Design for a Two-Link Robot Arm

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Volume 7, Issue 1
January 2019
Pages 69-82

WOA-based Interval Type II Fuzzy Fractional-order Controller Design for a Two-Link Robot Arm

References

References

Send comment about this article

Volume 7, Issue 1January 2019Pages 69-82

Volume 7, Issue 1
January 2019
Pages 69-82