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

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.