Multi-objective cuckoo search algorithm-based 2-DOF FOPD controller for robotic manipulator

Himanshu Chhabra, Vijay Mohan, Asha Rani, Vijander Singh

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)


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.

Original languageEnglish
Title of host publicationAdvances in Signal Processing and Communication - Select Proceedings of ICSC 2018
EditorsSanjeev Manhas, Banmali S. Rawat, Aditya Trivedi, Vikram Karwal
PublisherSpringer Verlag
Number of pages8
ISBN (Print)9789811325526
Publication statusPublished - 2019
EventInternational Conference on Signal Processing and Communication, ICSC 2018 - Noida, India
Duration: 21-03-201823-03-2018

Publication series

NameLecture Notes in Electrical Engineering
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119


ConferenceInternational Conference on Signal Processing and Communication, ICSC 2018

All Science Journal Classification (ASJC) codes

  • Industrial and Manufacturing Engineering


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