A study on different configurations of fractional order fuzzy logic controller scheme for robotic manipulator using NSGA-II

Abstract

In this paper, the performance and design analysis of two different configurations of fractional order fuzzy logic controller (FLC) schemes are investigated for two-link planar robotic manipulator plant. The plant under consideration is carrying a payload which is varying with time. The scaling gains of FLC and the other parameters of controller are obtained using an efficient multi-objective optimization technique named as non-dominating sorted genetic algorithm-II (NSGA-II). Two different performance/objective functions are chosen for minimization to witness trade-off between them and to obtain better closed loop response. Using the MATLAB/Simulink platform for simulation, the performance of the proposed controller techniques are compared with the fractional version of PID (FOPID) and traditional Proportional-Integral-Derivative (PID) controller. For the robustness testing, the results for the disturbance rejections are presented for all the control schemes.