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

机译：用于机器人操纵器的基于交换的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：在本作本作中，研究了分数级比例恒星 - 衍生物控制和分数阶模糊逻辑控制方法的协作实现，用于操纵器厂的控制跟踪性能。通过最佳参数获得的所需和实际输出轨迹之间测量的积分时间绝对误差驱动两个控制器，分数比例 - 积分 - 衍生物和分数阶模糊逻辑控制之间的切换机制，以实现协作方案。探讨了分数顺序比例 - 积分 - 衍生控制器和分数阶模糊逻辑控制方案之间的不同可能的切换机构方式。通过Meta-heuristic技术研究了所得到的控制器的参数即Cuckoo搜索算法。将所提出的协作方案的性能与现有的控制方案和基本比例 - 积分 - 衍生物控制方法进行比较，用于获得受控跟踪性能。为了概括设计控制方案的使用和有效性，还研究了轨迹跟踪问题的一阶植物和倒摆的仿真研究。为了分析参数变化，干扰抑制和有效载荷变化的影响，还呈现了用于机器人操纵器的所提出方案的性能结果。所提出的控制器对不同应用的机器人操纵器控制具有潜在的应用。 （c）2019 Elsevier Inc.保留所有权利。

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