Robust self-tuning fractional order PID controller dedicated to non-linear dynamic system

Vijay Mohan, Himanshu Chhabra, Asha Rani, Vijander Singh

Research output: Contribution to journalArticlepeer-review

27 Citations (Scopus)


A novel Non-Linear Fractional order PID controller (NLF-PID) is designed for control of coupled and non-linear 2-link rigid robot. The structure of proposed controller comprises of non-linear hyperbolic function of instantaneous error and current state cascaded with Fractional Order PID (FO-PID). Non-linear function provides adaptive control ability while incorporation of fractional operator enhances flexibility of designed controller. To examine the comparative merits of NLF-PID controller, Non-linear PID (NL-PID), FO-PID and traditional PID schemes are also implemented. Design variables of controllers are optimally tuned using multi objective Non-dominated Sorting Genetic Algorithm II (NSGA-II) for small variation in control and error signal. Results prove that NLF-PID provides robust and efficient control of robotic arm as compared to other designed controllers for reference tracking, model uncertainty, disturbance and noise due to inherent shortcoming of sensor.

Original languageEnglish
Pages (from-to)1467-1478
Number of pages12
JournalJournal of Intelligent and Fuzzy Systems
Issue number3
Publication statusPublished - 2018

All Science Journal Classification (ASJC) codes

  • Statistics and Probability
  • General Engineering
  • Artificial Intelligence


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