WOA-based Interval Type II Fuzzy Fractional-order Controller Design for a Two-Link Robot Arm
| Autor: | F. Jamshidi, M. Vaghefi |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2018 |
| Předmět: | |
| Zdroj: | Journal of Electrical and Computer Engineering Innovations, Vol 7, Iss 1, Pp 69-82 (2018) |
| Druh dokumentu: | article |
| ISSN: | 2322-3952 2345-3044 |
| DOI: | 10.22061/jecei.2019.5783.256 |
| Popis: | 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. |
| Databáze: | Directory of Open Access Journals |
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