TY - GEN
T1 - Multi-objective cuckoo search algorithm-based 2-DOF FOPD controller for robotic manipulator
AU - Chhabra, Himanshu
AU - Mohan, Vijay
AU - Rani, Asha
AU - Singh, Vijander
N1 - Publisher Copyright:
© Springer Nature Singapore Pte Ltd. 2019.
PY - 2019
Y1 - 2019
N2 - Controller design for effective operation of robotic manipulator is a challenging task due to its highly complex and nonlinear dynamics. This issue may be resolved by incorporating fractional mathematics along with two-degrees-of-freedom PID controller. The fractional mathematics enhances the accuracy of control action, whereas two-degrees-of-freedom controller solves multiple issues like set point tracking and disturbance rejection simultaneously. Therefore, in this paper, a two-degree-of-freedom fractional-order proportional–derivative (2-DOF FOPD) controller is proposed for efficient trajectory control of two-link rigid manipulator. Conventional PID and its integer-order equivalent (2-DOF PD) controllers are also designed for comparative analysis. The parameters of designed controller are tuned using multi-objective cuckoo search algorithm (MOCSA) to minimize two conflicting objectives of robotic manipulator. Simulation study reveals the effectiveness and robustness of 2-DOF FOPD controller, in terms of trajectory tracking and disturbance rejection.
AB - Controller design for effective operation of robotic manipulator is a challenging task due to its highly complex and nonlinear dynamics. This issue may be resolved by incorporating fractional mathematics along with two-degrees-of-freedom PID controller. The fractional mathematics enhances the accuracy of control action, whereas two-degrees-of-freedom controller solves multiple issues like set point tracking and disturbance rejection simultaneously. Therefore, in this paper, a two-degree-of-freedom fractional-order proportional–derivative (2-DOF FOPD) controller is proposed for efficient trajectory control of two-link rigid manipulator. Conventional PID and its integer-order equivalent (2-DOF PD) controllers are also designed for comparative analysis. The parameters of designed controller are tuned using multi-objective cuckoo search algorithm (MOCSA) to minimize two conflicting objectives of robotic manipulator. Simulation study reveals the effectiveness and robustness of 2-DOF FOPD controller, in terms of trajectory tracking and disturbance rejection.
UR - http://www.scopus.com/inward/record.url?scp=85057879559&partnerID=8YFLogxK
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U2 - 10.1007/978-981-13-2553-3_33
DO - 10.1007/978-981-13-2553-3_33
M3 - Conference contribution
AN - SCOPUS:85057879559
SN - 9789811325526
T3 - Lecture Notes in Electrical Engineering
SP - 345
EP - 352
BT - Advances in Signal Processing and Communication - Select Proceedings of ICSC 2018
A2 - Manhas, Sanjeev
A2 - Rawat, Banmali S.
A2 - Trivedi, Aditya
A2 - Karwal, Vikram
PB - Springer Verlag
T2 - International Conference on Signal Processing and Communication, ICSC 2018
Y2 - 21 March 2018 through 23 March 2018
ER -