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Trajectory Tracking Control for Robot Manipulator using Fractional Order-Fuzzy-PID Controller

by Reham H. Mohammed, Fahmy Bendary, Kamel Elserafi
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International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 134 - Number 15
Year of Publication: 2016
Authors: Reham H. Mohammed, Fahmy Bendary, Kamel Elserafi
10.5120/ijca2016908155

Reham H. Mohammed, Fahmy Bendary, Kamel Elserafi . Trajectory Tracking Control for Robot Manipulator using Fractional Order-Fuzzy-PID Controller. International Journal of Computer Applications. 134, 15 ( January 2016), 22-29. DOI=10.5120/ijca2016908155

@article{ 10.5120/ijca2016908155,
author = { Reham H. Mohammed, Fahmy Bendary, Kamel Elserafi },
title = { Trajectory Tracking Control for Robot Manipulator using Fractional Order-Fuzzy-PID Controller },
journal = { International Journal of Computer Applications },
issue_date = { January 2016 },
volume = { 134 },
number = { 15 },
month = { January },
year = { 2016 },
issn = { 0975-8887 },
pages = { 22-29 },
numpages = {9},
url = { https://ijcaonline.org/archives/volume134/number15/23992-2016908155/ },
doi = { 10.5120/ijca2016908155 },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Journal Article
%1 2024-02-06T23:34:19.536098+05:30
%A Reham H. Mohammed
%A Fahmy Bendary
%A Kamel Elserafi
%T Trajectory Tracking Control for Robot Manipulator using Fractional Order-Fuzzy-PID Controller
%J International Journal of Computer Applications
%@ 0975-8887
%V 134
%N 15
%P 22-29
%D 2016
%I Foundation of Computer Science (FCS), NY, USA
Abstract

Robotic manipulator is a Multi-Input Multi-Output (MIMO), highly nonlinear and coupled system. Therefore, designing an efficient controller for this system is a challenging task for the control engineers. In this paper, the Fractional Order-Fuzzy- Proportional Integral Derivative (FO-Fuzzy-PID) controller is investigated for the first three joints of robot arm (PUMA 560) for trajectory tracking problem. To study the effectiveness of FO-Fuzzy-PID controller, its performance is compared with other three non model controllers namely Fuzzy-PID, Fractional Order PID (FOPID) and conventional PID. Genetic algorithm (GA) optimization technique was used for tuning parameters of FOPID and conventional PID controllers. Simulation results clearly indicate the superiority of FO-Fuzzy-PID controller over the other controllers for trajectory tracking, better steady state and RMS errors. All controllers were tested by simulation under the same conditions using SIMULINK under MATLAB2013a.

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Index Terms

Computer Science
Information Sciences

Keywords

PUMA560 Quantico polynomial trajectories planning Proportional Integral Derivative (PID) controller Fuzzy-PID Fractional Order PID (FOPID) Fractional Order-Fuzzy-PID (FO-Fuzzy-PID).

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