Design of interval type-2 fuzzy precompensated PID controller applied to two-DOF robotic manipulator with variable payload

Prashant J Gaidhane; Madhav J Nigam; Anupam Kumar; Pyari Mohan Pradhan

doi:10.1016/j.isatra.2018.12.030

Design of interval type-2 fuzzy precompensated PID controller applied to two-DOF robotic manipulator with variable payload

ISA Trans. 2019 Jun:89:169-185. doi: 10.1016/j.isatra.2018.12.030. Epub 2018 Dec 27.

Authors

Prashant J Gaidhane¹, Madhav J Nigam², Anupam Kumar³, Pyari Mohan Pradhan⁴

Affiliations

¹ Department of Electronics and Communication Engineering, Indian Institute of Technology, Roorkee, India. Electronic address: pjgaidhane@gmail.com.
² Department of Electronics and Communication Engineering, JUIT, Waknaghat, (H.P.), India. Electronic address: mkndnfec@gmail.com.
³ Department of Electronics and Communication Engineering, Indian Institute of Information Technology, Bhagalpur, India. Electronic address: anuanu1616@gmail.com.
⁴ Department of Electronics and Communication Engineering, Indian Institute of Technology, Roorkee, India. Electronic address: pmpradhan.fec@iitr.ac.in.

PMID: 30616968
DOI: 10.1016/j.isatra.2018.12.030

Abstract

The interval type-2 fuzzy logic controller (IT2-FLC), with footprint of uncertainty (FOU) in membership functions (MF), has increasingly recognized for controlling uncertainties and nonlinearities. Within the ambit of this, the efficient interval type-2 fuzzy precompensated PID (IT2FP-PID) controller is designed for trajectory tracking of 2-DOF robotic manipulator with variable payload. A systematic strategy for optimizing the controller parameters along with scaling factors and the antecedent MF parameters for minimization of performance metric integral time absolute error (ITAE) is presented. Prominently, recently proposed optimization technique hybridizing grey wolf optimizer and artificial bee colony algorithm (GWO-ABC) is utilized for solving this high-dimensional constrained optimization problem. In order to witness effectiveness, the performance is compared with type-1 fuzzy precompensated PID (T1FP-PID), fuzzy PID (FPID), and conventional PID controllers. More significantly, the robustness of IT2FP-PID is examined for payload variation, model uncertainties, external disturbance, and noise cancellation. After experimental outcome, it is inferred that IT2FP-PID controller outperforms others and can be referred as a viable alternative for controlling nonlinear complex systems with higher uncertainties.

Keywords: Fuzzy precompensated PID controller; Hybrid GWO–ABC algorithm; IT2-FLC; Membership function tuning; Robustness analysis; Type-2 fuzzy logic control.