Optimal fractional order PID for a robotic manipulator using colliding bodies design

Abstract

In this paper, an optimal fractional order PID controller is presented. An evolutionary algorithm, named colliding bodies optimization, is applied to tune the proposed controller. For this purpose, the algorithm is changed and developed to an adaptive version, in which it can update itself by the time. This feature helps it to converge in a shorter time comparing with the basic one. The proposed optimal controller is utilized to control different systems. Firstly, it is used to control different typical transfer functions, which some of them have time delay. Then, in order to show the proficiency of the proposed fractional order controller, it is applied to control a robotic manipulator. The comparative results of the designed optimal controller are given to show its effectiveness.