Design of Interval Type-2 Fractional-Order Fuzzy Logic Controller for Redundant Robot with Artificial Bee Colony

Abstract

A five-degree of freedom redundant robot manipulator is a MIMO, extremely nonlinear and dynamically coupled system wherein the parameter variations, external disturbances, and random noise adversely affect the system performances. From this, it necessitates that the controller designed for redundant robot system should efficiently handle such complexities. In this paper, the novel application of artificial bee colony (ABC) algorithm to optimize the fractional-order operators and scaling factors of interval type-2 fractional-order fuzzy PID (IT2FO-FPID) controller are proposed for redundant robotic system for trajectory tracking problem. In order to show the superiority of new IT2FO-FPID controller, the proposed controller structure is also implemented for benchmark fractional-order plants and uncertain inverted pendulum system. Further, the tuning of each controller’s parameters is done with ABC algorithm for each plant. For investigating the effectiveness of the proposed controllers, the performances of the proposed controller are compared with integer order IT2FPID, type-1 fuzzy PID (T1FPID), and traditional PID controllers. The simulation results show that the IT2FO-FPID controller produces superior results for fractional-order plants, inverted pendulum system, and redundant robot manipulator. Further, the robustness analysis is conducted for load disturbance rejection for fractional-order plants, inverted pendulum system. Moreover, the robustness analysis is also investigated for robot manipulator in the presence of model uncertainties, load disturbance, and random noise. After numerical simulations, it is found that IT2FO-FPID controller is producing superior results than its conventional counterparts in the presence of robustness.