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A switching-based collaborative fractional order fuzzy logic controllers for robotic manipulators

机译：基于开关的机器人机械手协作分数阶模糊逻辑控制器

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摘要

In the present work, a collaborative implementation of fractional order proportionalintegral-derivative control and fractional order fuzzy logic control method is investigated for the controlled tracking performance of a manipulator plant. An integral time absolute error measured between the desired and actual output trajectories, which is obtained by the optimal parameters, drives the switching mechanism between the two controllers, fractional order proportional-integral-derivative and fractional order fuzzy logic control, in order to implement the collaboration scheme. Different possible ways of switching mechanism between fractional order proportional-integral-derivative controller and fractional order fuzzy logic control scheme are explored. The resulting controller's parameters are investigated with meta-heuristic technique namely cuckoo search algorithm. The performance of the proposed collaborative scheme is compared with existing control schemes and basic proportional-integral-derivative control method for obtaining the controlled tracking performance. To generalize the use and effectiveness of designed control scheme, the simulation studies are also investigated for a first order plant and an inverted pendulum for the trajectory tracking problem. To analyse the effects of the parameter variations, disturbance rejection, and payload variations, the performance results for the proposed scheme are also presented for robotic manipulator. The proposed controller has a potential application in robotic manipulator control for different applications. (C) 2019 Elsevier Inc. All rights reserved.
机译：在目前的工作中，研究了分数阶比例积分-微分控制和分数阶模糊逻辑控制方法的协作实现，以实现机械手装置的受控跟踪性能。通过最佳参数获得的在期望和实际输出轨迹之间测得的积分时间绝对误差驱动两个控制器之间的切换机制：分数阶比例-积分-微分和分数阶模糊逻辑控制，以实现合作计划。探索了分数阶比例积分微分控制器与分数阶模糊逻辑控制方案之间切换机制的不同可能方式。使用元启发式技术（即布谷鸟搜索算法）研究所得的控制器参数。将所提出的协作方案的性能与现有的控制方案和基本的比例-积分-微分控制方法进行比较，以获得受控的跟踪性能。为了概括设计控制方案的使用和有效性，还对一阶工厂和倒立摆的轨迹跟踪问题进行了仿真研究。为了分析参数变化，干扰抑制和有效载荷变化的影响，还针对机器人提出了该方案的性能结果。所提出的控制器在针对不同应用的机器人操纵器控制中具有潜在的应用。 （C）2019 Elsevier Inc.保留所有权利。

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