Drawing graphs nicely using simulated annealing
ACM Transactions on Graphics (TOG)
Tracking control of a manipulator under uncertainty by FUZZY P+ID controller
Fuzzy Sets and Systems
Analytical structure and stability analysis of a fuzzy PID controller
Applied Soft Computing
Obtaining an Optimum PID Controller Via Adaptive Tabu Search
ICANNGA '07 Proceedings of the 8th international conference on Adaptive and Natural Computing Algorithms, Part II
Design of fractional-order PIλDµ controllers with an improved differential evolution
Engineering Applications of Artificial Intelligence
An Improved Ant Colony Algorithm for PID Parameters Optimization
ICICTA '09 Proceedings of the 2009 Second International Conference on Intelligent Computation Technology and Automation - Volume 01
A computed torque controller for uncertain robotic manipulator systems: Fuzzy approach
Fuzzy Sets and Systems
Applied Soft Computing
Engineering Applications of Artificial Intelligence
Optimum design of fractional order PIλDµ controller for AVR system using chaotic ant swarm
Expert Systems with Applications: An International Journal
Expert Systems with Applications: An International Journal
PID Control Using Presearched Genetic Algorithms for a MIMO System
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
Conventional fuzzy control and its enhancement
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
An improved robust fuzzy-PID controller with optimal fuzzy reasoning
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Design of a hybrid fuzzy logic proportional plus conventional integral-derivative controller
IEEE Transactions on Fuzzy Systems
Mathematical modeling and fuzzy control of a flexible-link robot arm
Mathematical and Computer Modelling: An International Journal
| Hi-index | 12.05 |
A two-link robotic manipulator is a Multi-Input Multi-Output (MIMO), highly nonlinear and coupled system. Therefore, designing an efficient controller for this system is a challenging task for the control engineers. In this paper, the Fractional Order Fuzzy Proportional-Integral-Derivative (FOFPID) controller for a two-link planar rigid robotic manipulator for trajectory tracking problem is investigated. Robustness testing of FOFPID controller for model uncertainties, disturbance rejection and noise suppression is also investigated. To study the effectiveness of FOFPID controller, its performance is compared with other three controllers namely Fuzzy PID (FPID), Fractional Order PID (FOPID) and conventional PID. For tuning of parameters of all the controllers, Cuckoo Search Algorithm (CSA) optimization technique was used. Two performance indices namely Integral of Absolute Error (IAE) and Integral of Absolute Change in Controller Output (IACCO) having equal weightage for both the links are considered for minimization. Numerical simulation results clearly indicate the superiority of FOFPID controller over the other controllers for trajectory tracking, model uncertainties, disturbance rejection and noise suppression.