Abstract
In this paper a novel strategy for the position control and trajectory tracking of robotic manipulators is proposed. This strategy consists of an independent two degree of freedom PID controller for a two links robotic arm. Due to the capability of two degree of freedom PID controllers to deal with disturbances, each link is controlled independently considering that the disturbance does not affect the system performance due to the robustness of the closed loop system. Then, a fuzzy type-2 centralized compensator is implemented to drive the orientation variables with the desired trajectory in order to improve the robustness and system performance. In this work, it is proved that the two degree of freedom fractional order PID controllers implemented with the fuzzy type-2 compensator improves the system performance in comparison with the results found in other studies, and one important issue is that the fuzzy type-2 system can be considered as a linear system emulating the capabilities of a linear compensator. To corroborate the theoretical results explained in this study, a numerical example is shown along with the respective discussion and conclusions.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Alfaro, V., Vilanova, R., Arrieta, O.: Robust tuning of two-degree-of-freedom (2-DoF) PI/PID based cascade control systems. J. Process Control 19(10), 1658–1670 (2009)
Arrieta, O., Wu, S., Vilanova, R., Rojas, J., Yu, L.: Development of a mobile application for robust tuning of one-and two-degree-of-freedom PI and PID controllers. IFAC-PapersOnLine 48(29), 76–81 (2015)
Azar, A.T., Serrano, F.: Stabilization and control of mechanical systems with backlash. In: Handbook of Research on Advanced Intelligent Control Engineering and Automation, pp. 1 – 60 (2015)
Brogan, W.L.: Modern Control Theory. Prentice Hall, Upper Saddle River (1991)
Debbarma, S., Saikia, L.C., Sinha, N.: Automatic generation control using two degree of freedom fractional order PID controller. Inte. J. Electr. Power Energy Syst. 58, 120–129 (2014)
Ghosh, A., Krishnan, R., Pailla Tejaswy, A.M., Pradhan, J., Ranasingh, S.: Design and implementation of a 2-DOF PID compensation for magnetic levitation systems. ISA Trans. 53(4), 1216–1222 (2014)
Inoue, T.S.A., Hirashima, Y.: Self-tuning two-degree-of-freedom PID compensator based on two-degree-of-freedom generalized minimum variance control. In: IFAC Adaptation and Learning in Control and Signal Processing, pp. 207–212 (2001)
Jin, Q., Liu, Q.: Analytical IMC-PID design in terms of performance/robustness tradeoff for integrating processes: From 2-Dof to 1-Dof. J. Process Control 24(3), 22–32 (2014)
Kumar, A., Kumar, V.: Evolving an interval type-2 fuzzy PID controller for the redundant robotic manipulator. Expert Syst. Appl. 73, 161–177 (2017)
Li, M., Zhou, P., Zhao, Z., Zhang, J.: Two-degree-of-freedom fractional order-PID controllers design for fractional order processes with dead-time. ISA Trans. 61, 147–154 (2016)
Pachauri, N., Singh, V., Rani, A.: Two degree of freedom PID based inferential control of continuous bioreactor for ethanol production. ISA Trans. 68, 235–250 (2017)
Panigrahi, T.K., Behera, A., Sahoo, A.K.: Novel approach to automatic generation control with various non-linearities using 2-degree-of-freedom PID controller. Energy Proc. 138, 464–469 (2017)
Qiao, W., Tang, X., Zheng, S., Xie, Y., Song, B.: Adaptive two-degree-of-freedom PI for speed control of permanent magnet synchronous motor based on fractional order GPC. ISA Trans. 64, 303–313 (2016)
Sahu, R.K., Panda, S., Rout, U.K., Sahoo, D.K.: Teaching learning based optimization algorithm for automatic generation control of power system using 2-DOF PID controller. Int. J. Electr. Power Energy Syst. 77, 287–301 (2016)
Serrano, F., Rossell, J.M.: Hybrid passivity based and fuzzy type-2 controller for chaotic an hyper-chaotic systems. Acta Mec. Autom. 11, 96–103 (2017)
Sharma, R., Gaur, P., Mittal, A.: Performance analysis of two-degree of freedom fractional order PID controllers for robotic manipulator with payload. ISA Trans. 58, 279–291 (2015)
Singh, J., Chattterjee, K., Vishwakarma, C.: Two degree of freedom internal model control-PID design for LFC of power systems via logarithmic approximations. ISA Trans. 72, 185–196 (2018)
Spong, M.W., Hutchinson, S., Vidyasagar, M.: Robot Modeling and Control. Wiley, Hoboken (2006)
Taguchr, H., Arakr, M.: Two-degree-of-freedom PID controllers their functions and optimal tuning. IFAC Digit. Control Past Present Future PlO Control Terrassa Spain 33, 91–96 (2000)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Azar, A.T., Serrano, F.E. (2019). Fractional Order Two Degree of Freedom PID Controller for a Robotic Manipulator with a Fuzzy Type-2 Compensator. In: Hassanien, A., Tolba, M., Shaalan, K., Azar, A. (eds) Proceedings of the International Conference on Advanced Intelligent Systems and Informatics 2018. AISI 2018. Advances in Intelligent Systems and Computing, vol 845. Springer, Cham. https://doi.org/10.1007/978-3-319-99010-1_7
Download citation
DOI: https://doi.org/10.1007/978-3-319-99010-1_7
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-99009-5
Online ISBN: 978-3-319-99010-1
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)