Two-link robot manipulator using fractional order PID controllers  optimized by evolutionary algorithms

Davoud Fani and Elmira Shahraki

Department of Electrical and Computer Engineering, University of Sistan and Baluchestan, Zahedan, Iran

DOI : http://dx.doi.org/10.13005/bbra/2075

ABSTRACT: Fractional order (FO) controllers are highly considered with regard to higher performance and robustness of these controllers in FO systems. According to advantages of PID controllers such as suitable performance, low price and simplicity of design, they are widely used in industry. A FOPID controller is used for two-link robot control in this paper. Considering vast use of evolutionary algorithms and numerical optimization, coefficients of the FO controller are optimized using evolutionary algorithms in this paper. An individual FOPID controller is applied in order to control each link. Three evolutionary optimization algorithms including particle swarm optimization (PSO), genetic algorithm and estimation of distribution algorithm, are compared from optimal coefficients determination point of view. Experimental results indicate that FOPID controller is more applicable according to use of actual model for robot and suitable performance of the PSO algorithm.

KEYWORDS: evolutionary algorithms; fractional order controller; PID controller; two-link robot

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