Multi objective PSO tuned fractional order PID control of robotic manipulator

Himanshu Chhabra, Vijay Mohan, Asha Rani, Vijander Singh

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

16 Citations (Scopus)

Abstract

Designing of an efficient control strategy for robotic manipulator is a challenging task for control experts due to inherent nonlinearity and high coupling present in the system. The aim of this paper is to design precise tracking controller with minimum control effort for robotic manipulator. In order to fulfill the aforementioned purpose a fractional order PID controller is proposed. Multi objective particle swarm optimization (MOPSO) is used to optimize parameters value of FOPID controller. The integer order PID is also implemented for comparative study. Results show that the robustness of proposed controller towards trajectory tracking and uncertainty in parameters are superior over traditional PID controller.

Original languageEnglish
Title of host publicationIntelligent Systems Technologies and Applications 2016
EditorsSushmita Mitra, Sabu M. Thampi, El-Sayed El-Alfy, Juan Manuel Corchado Rodriguez
PublisherSpringer Verlag
Pages567-572
Number of pages6
ISBN (Print)9783319479514
DOIs
Publication statusPublished - 2016
EventInternational Symposium on Intelligent Systems Technologies and Applications, ISTA 2016 - Jaipur, India
Duration: 21-09-201624-09-2016

Publication series

NameAdvances in Intelligent Systems and Computing
Volume530
ISSN (Print)2194-5357

Conference

ConferenceInternational Symposium on Intelligent Systems Technologies and Applications, ISTA 2016
Country/TerritoryIndia
CityJaipur
Period21-09-1624-09-16

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science(all)

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