Optimization of a fractional-order interval type-2 fuzzy PID controller based on BBO for real-time applications

Abstract

This paper addresses the development of a robust controller for a nonlinear system to minimize the tracking errors and reduce the effects of external noise and disturbances. To achieve this, the biogeography-based optimization (BBO) algorithm is utilized for an optimally robust interval type 2 fractional-order fuzzy proportional integral derivative controller (BB0-IT2FO-FPID) is proposed. The proposed method offers several advantages. Firstly, the proposed controller is optimized to achieve robustness and minimize tracking errors. Secondly, it effectively handles external noise and disturbances, making it suitable for real-world applications. Thirdly, the use of the BBO algorithm enhances the controller's performance by dynamically adjusting its parameters based on system requirements. The performance of the proposed controller is validated by applying it to control a robotic manipulator, which presents challenges due to its nonlinear characteristics and interacting multi-input multi-output (MIMO) dynamics. Additionally, a real-time evaluation of the proposed controller is conducted by applying it to the speed control of a direct current (DC) machine. The effectiveness of the proposed controller is verified through simulation and practical experiments and comparisons with other optimized controllers, namely FO fuzzy type 1 PID (T1FO-FPID) and FOPID. The simulation and practical results demonstrate the superior performance of the BBO-IT2FO-FPID controller in the presence of system uncertainties and different types of disturbances.