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

Himanshu Chhabra; Vijay Mohan; Asha Rani; Vijander Singh

doi:10.1007/978-981-13-2553-3_33

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

Himanshu Chhabra^*
, Vijay Mohan
, Asha Rani
, Vijander Singh

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

13 Citations (Scopus)

Abstract

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 language	English
Title of host publication	Advances in Signal Processing and Communication - Select Proceedings of ICSC 2018
Editors	Sanjeev Manhas, Banmali S. Rawat, Aditya Trivedi, Vikram Karwal
Publisher	Springer Verlag
Pages	345-352
Number of pages	8
ISBN (Print)	9789811325526
DOIs	https://doi.org/10.1007/978-981-13-2553-3_33
Publication status	Published - 2019
Event	International Conference on Signal Processing and Communication, ICSC 2018 - Noida, India Duration: 21-03-2018 → 23-03-2018

Publication series

Name	Lecture Notes in Electrical Engineering
Volume	526
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Conference

Conference	International Conference on Signal Processing and Communication, ICSC 2018
Country/Territory	India
City	Noida
Period	21-03-18 → 23-03-18

All Science Journal Classification (ASJC) codes

Industrial and Manufacturing Engineering

Access to Document

10.1007/978-981-13-2553-3_33

Cite this

Chhabra, H., Mohan, V., Rani, A., & Singh, V. (2019). Multi-objective cuckoo search algorithm-based 2-DOF FOPD controller for robotic manipulator. In S. Manhas, B. S. Rawat, A. Trivedi, & V. Karwal (Eds.), Advances in Signal Processing and Communication - Select Proceedings of ICSC 2018 (pp. 345-352). (Lecture Notes in Electrical Engineering; Vol. 526). Springer Verlag. https://doi.org/10.1007/978-981-13-2553-3_33

Chhabra, Himanshu ; Mohan, Vijay ; Rani, Asha et al. / Multi-objective cuckoo search algorithm-based 2-DOF FOPD controller for robotic manipulator. Advances in Signal Processing and Communication - Select Proceedings of ICSC 2018. editor / Sanjeev Manhas ; Banmali S. Rawat ; Aditya Trivedi ; Vikram Karwal. Springer Verlag, 2019. pp. 345-352 (Lecture Notes in Electrical Engineering).

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title = "Multi-objective cuckoo search algorithm-based 2-DOF FOPD controller for robotic manipulator",

abstract = "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.",

author = "Himanshu Chhabra and Vijay Mohan and Asha Rani and Vijander Singh",

note = "Publisher Copyright: {\textcopyright} Springer Nature Singapore Pte Ltd. 2019.; International Conference on Signal Processing and Communication, ICSC 2018 ; Conference date: 21-03-2018 Through 23-03-2018",

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doi = "10.1007/978-981-13-2553-3\_33",

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Chhabra, H, Mohan, V, Rani, A & Singh, V 2019, Multi-objective cuckoo search algorithm-based 2-DOF FOPD controller for robotic manipulator. in S Manhas, BS Rawat, A Trivedi & V Karwal (eds), Advances in Signal Processing and Communication - Select Proceedings of ICSC 2018. Lecture Notes in Electrical Engineering, vol. 526, Springer Verlag, pp. 345-352, International Conference on Signal Processing and Communication, ICSC 2018, Noida, India, 21-03-18. https://doi.org/10.1007/978-981-13-2553-3_33

Multi-objective cuckoo search algorithm-based 2-DOF FOPD controller for robotic manipulator. / Chhabra, Himanshu; Mohan, Vijay; Rani, Asha et al.
Advances in Signal Processing and Communication - Select Proceedings of ICSC 2018. ed. / Sanjeev Manhas; Banmali S. Rawat; Aditya Trivedi; Vikram Karwal. Springer Verlag, 2019. p. 345-352 (Lecture Notes in Electrical Engineering; Vol. 526).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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.

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PB - Springer Verlag

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Y2 - 21 March 2018 through 23 March 2018

ER -

Chhabra H, Mohan V, Rani A, Singh V. Multi-objective cuckoo search algorithm-based 2-DOF FOPD controller for robotic manipulator. In Manhas S, Rawat BS, Trivedi A, Karwal V, editors, Advances in Signal Processing and Communication - Select Proceedings of ICSC 2018. Springer Verlag. 2019. p. 345-352. (Lecture Notes in Electrical Engineering). doi: 10.1007/978-981-13-2553-3_33

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

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