Tuning of fractional PID controllers using PSO algorithm for robot trajectory control

Abstract

The aim of the paper is to compare three different controllers tuned with a particle swarm optimization (PSO) for robot trajectory control. For this reason, Fractional order PID controller (FOPID) tuned with PSO was studied primarily for a 2 DOF planar robot. As the parameters of FOPID controller were optimized by PSO for a given trajectory, three different cost functions were used for better comparison. In order to compare the performance of the optimized FOPID controller with other controllers, the Fuzzy logic controller (FLC) and the PID controller were also tuned with PSO. In order to test the robustness of the tuned controllers, the model parameters and the given trajectory were changed and the white noise was added to the system. All of the trajectory simulation results show that FOPID controller tuned by PSO has good performance and it is better than the FLC and the PID tuned by PSO. Also, the results obtained from robustness test indicate the superior robustness of the FOPID controller on the others.