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Advances in Signal Processing and Communication pp 345–352Cite as

Multi-objective Cuckoo Search Algorithm-Based 2-DOF FOPD Controller for Robotic Manipulator

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Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 526))

Abstract

Controller design for effective operation of robotic manipulator is a challenging task due to its highly complex and nonlinear dynamics. This issue may be resolved by incorporating fractional mathematics along with two-degrees-of-freedom PID controller. The fractional mathematics enhances the accuracy of control action, whereas two-degrees-of-freedom controller solves multiple issues like set point tracking and disturbance rejection simultaneously. Therefore, in this paper, a two-degree-of-freedom fractional-order proportional–derivative (2-DOF FOPD) controller is proposed for efficient trajectory control of two-link rigid manipulator. Conventional PID and its integer-order equivalent (2-DOF PD) controllers are also designed for comparative analysis. The parameters of designed controller are tuned using multi-objective cuckoo search algorithm (MOCSA) to minimize two conflicting objectives of robotic manipulator. Simulation study reveals the effectiveness and robustness of 2-DOF FOPD controller, in terms of trajectory tracking and disturbance rejection.

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Authors and Affiliations

  1. ECE Department, MLV Textile and Engineering College, Bhilwara, Rajasthan, India

    Himanshu Chhabra

  2. ICE Division, Netaji Subhas Institute of Technology, New Delhi, 110078, India

    Vijay Mohan, Asha Rani & Vijander Singh

Authors
  1. Himanshu Chhabra
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  2. Vijay Mohan
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  3. Asha Rani
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  4. Vijander Singh
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Corresponding author

Correspondence to Himanshu Chhabra .

Editor information

Editors and Affiliations

  1. University of Nevada, Reno, Reno, NV, USA

    Banmali S. Rawat

  2. Atal Bihari Vajpayee Indian Institute of Information Technology and Management, Gwalior, Gwalior, Madhya Pradesh, India

    Aditya Trivedi

  3. Indian Institute of Technology Roorkee, Roorkee, Uttarakhand, India

    Sanjeev Manhas

  4. Jaypee Institute of Information Technology, Noida, Uttar Pradesh, India

    Vikram Karwal

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Chhabra, H., Mohan, V., Rani, A., Singh, V. (2019). Multi-objective Cuckoo Search Algorithm-Based 2-DOF FOPD Controller for Robotic Manipulator. In: Rawat, B., Trivedi, A., Manhas, S., Karwal, V. (eds) Advances in Signal Processing and Communication . Lecture Notes in Electrical Engineering, vol 526. Springer, Singapore. https://doi.org/10.1007/978-981-13-2553-3_33

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  • DOI: https://doi.org/10.1007/978-981-13-2553-3_33

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-13-2552-6

  • Online ISBN: 978-981-13-2553-3

  • eBook Packages: EngineeringEngineering (R0)

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