Robot Arm Manipulator Position Control Using Fractional Order PID Enhanced by Hybrid PSOGSA
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Keywords:
Robot Manipulator, FOPID, PID, PSOGSA, Trajectory TrackingAbstract
This paper introduces a control strategy using the fractional order proportional integral derivative
(FOPID) controller, for regulating a 2-DOF robot manipulator position. While widely used in the industry
domain, the conventional proportional integral derivative (PID) controller exhibits limitations in handling
external disturbances, making it less robust. The FOPID controllers offer improved robustness, particularly
against uncertainties and external disturbances. In this study, a hybrid swarm optimization and gravitational
search algorithm (PSOGSA) is employed in order to tune and optimize the controller gains. The efficacy
of the proposed control approach is systematically compared with the conventional PID controller.
Numerical simulations demonstrate the superior performance of the proposed FOPID methodology over
the traditional PID controller, showcasing quantifiable improvements in root mean squared error (RMSE),
FOPID achieves RMSE values of 0.084813, and 0.044337 in the position’s trajectories. These results
illustrate the exceptional performance of the FOPID enhanced by PSOGSA in achieving precise control.
The proposed FOPID presents advantages in accurate tracking trajectory, adaptability under noises and
computational efficiency. This study contributes to the progress of robust control techniques for 2-DOF,
highlighting the potential of FOPID to improve trajectory tracking in practical, real-world applications.
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