Design and simulation of self-tuning fractional order fuzzy PID controller for robotic manipulator

Ardeshiri, Reza Rouhi; Kashani, Hoda Nikkhah; Reza-Ahrabi, Atikeh

doi:10.1504/ijaac.2019.10021366

Cited by 4 publications

(5 citation statements)

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“…Ants change the pheromone level on the paths between sessions using the following updating rule in equation (12). 𝜏 (𝑖,𝑗) ← 𝜌 ⋅ 𝜏 (𝑖,𝑗) + 𝛥𝜏 (𝑖,𝑗) (12) where,  is the trail evaporation parameter and (𝑖, 𝑗) is the pheromone level.…”

Section: Multiarticulated Systemmentioning

confidence: 99%

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The Efficiency of an Optimized PID Controller Based on Ant Colony Algorithm (ACO-PID) for the Position Control of a Multi-articulated System

Baghli,

Lakhal,

Kadi

2023

Journal of Robotics and Control

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In this article, a robot manipulator is controlled by the PID controller in a closed loop system with unit feedback. The difficulty of using the controller is parameter tuning, because the tuning parameters still use the trial and error method to find the PID parameter constants, namely Proportional Gain (Kp), Integral Gain (Ki) and Derivative Gain (Kd). In this case the Ant colony Optimization algorithm (ACO) is used to find the best gain parameters of the PID. The Ant algorithm is a method of combinatorial optimization, which utilizes the pattern of ants search for the shortest path from the nest to the place where the food is located, this concept is applied to tuning PID parameters by minimizing the objective function such that the robot manipulator has improved performance characteristics. This work uses the Matlab Simulink environment, First, after obtaining the system model, the ant colony algorithm is used to determine the proper coefficients 𝐾p, 𝐾i, and Kd in order to minimize the trajectory errors of the two joints of the robot manipulator. Then, the parameters will implement in the robot system. According to the results of the computer simulations, the proposed method (ACO-PID) gives a system that has a good performance compared with the classical PID.

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Section: Multiarticulated Systemmentioning

confidence: 99%

“…Typically, these take the form of an equation or an algorithm which is realized via specialized computer programs. Then, controllers form part of the so-called robot control system [8] [9][10] [11] [12].…”

Section: Introductionmentioning

confidence: 99%

The Efficiency of an Optimized PID Controller Based on Ant Colony Algorithm (ACO-PID) for the Position Control of a Multi-articulated System

Baghli,

Lakhal,

Kadi

2023

Journal of Robotics and Control

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“…Depending on the designer's viewpoint, the chosen model reference may be a first-order or second-order system. Although MRAC performs quickly, some systems may not like the high overshoot it experiences [29]- [33].…”

Section: Introductionmentioning

confidence: 99%

A New Self-Tuning Nonlinear PID Motion Control for One-Axis Servomechanism with Uncertainty Consideration

Shamseldin

Abdelghany

2023

Journal of Robotics and Control

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This paper introduces a new study for one-axis servomechanism with consideration the parameter variation and system uncertainty. Also, a new approach for high-performance self-tuning nonlinear PID control was developed to track a preselected profile with high accuracy. Moreover, a comparison study between the proposed control technique and the well-known controllers (PID and Nonlinear PID). The optimal control parameters were determined based on the COVID-19 optimization technique. The parameters of the servomechanism system changed randomly at a preselected range through the online simulation. The change of these parameters acts as the nonlinearity resources (friction, backlash, environmental effects) and system uncertainty. A comparative study between the linear and nonlinear models had been accomplished and investigated. The results show that the proposed controller can track several operating points with high accuracy, low rise time, and small overshoot.

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“…Das et al (2012) designed fractional order fuzzy PID (FOFPID) controllers for time-delayed nonlinear systems and used a genetic algorithm to optimize their proposed controller parameters. This controller was also used to control robots, and it was shown that the FOFPID controller performs better than the classic PID controllers, fuzzy PID, and FOPID (Ardeshiri et al, 2019;Mohammed et al, 2016;Sharma et al, 2014). Zamani et al (2018) used a FOFPID controller to control a structure with base isolation and semi-active variable friction dampers under earthquake excitation.…”

Section: Introductionmentioning

confidence: 99%

Seismic control of the structures with active tuned mass damper and variable fractional order fuzzy proportional–integral–derivative controller

Amini

Waezi

Manthouri

2022

Journal of Vibration and Control

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The structural control of the building is a critical part of mitigating the catastrophic consequences of the earthquakes. The active control of structures has gained popularity in the construction industry because of its ability to adapt to different ground motion characteristics. The active tuned mass damper (ATMD) is one of the most versatile devices used for active structural control. This paper uses the ATMD and variable fractional order fuzzy PID (VFOFPID) controller for improving the performance of building structures subjected to horizontal ground motions. Having obtained the response of an 11-story shear building with this controller, the optimized control forces are determined through the pattern search algorithm and the performance indices of the system subjected to 100 different ground motions are evaluated. The performance indices are compared with those of uncontrolled as well as genetic fuzzy and fuzzy PID controlled structure. The results indicate that the VFOFPID controller proposed here can effectively reduce the drift and the absolute acceleration of the structure.

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Design and simulation of self-tuning fractional order fuzzy PID controller for robotic manipulator

Cited by 4 publications

References 0 publications

The Efficiency of an Optimized PID Controller Based on Ant Colony Algorithm (ACO-PID) for the Position Control of a Multi-articulated System

The Efficiency of an Optimized PID Controller Based on Ant Colony Algorithm (ACO-PID) for the Position Control of a Multi-articulated System

A New Self-Tuning Nonlinear PID Motion Control for One-Axis Servomechanism with Uncertainty Consideration

Seismic control of the structures with active tuned mass damper and variable fractional order fuzzy proportional–integral–derivative controller

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