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Jamshidi, F., Vaghefi, M.. (1397). WOA-based Interval Type II Fuzzy Fractional-order Controller Design for a Two-Link Robot Arm. فناوری آموزش, 7(1), 69-82. doi: 10.22061/jecei.2019.5783.256
F. Jamshidi; M. Vaghefi. "WOA-based Interval Type II Fuzzy Fractional-order Controller Design for a Two-Link Robot Arm". فناوری آموزش, 7, 1, 1397, 69-82. doi: 10.22061/jecei.2019.5783.256
Jamshidi, F., Vaghefi, M.. (1397). 'WOA-based Interval Type II Fuzzy Fractional-order Controller Design for a Two-Link Robot Arm', فناوری آموزش, 7(1), pp. 69-82. doi: 10.22061/jecei.2019.5783.256
Jamshidi, F., Vaghefi, M.. WOA-based Interval Type II Fuzzy Fractional-order Controller Design for a Two-Link Robot Arm. فناوری آموزش, 1397; 7(1): 69-82. doi: 10.22061/jecei.2019.5783.256

WOA-based Interval Type II Fuzzy Fractional-order Controller Design for a Two-Link Robot Arm

Journal of Electrical and Computer Engineering Innovations (JECEI)
مقاله 9، دوره 7، شماره 1، فروردین 2019، صفحه 69-82    اصل مقاله (2.01 M)
نوع مقاله: Original Research Paper
شناسه دیجیتال (DOI): 10.22061/jecei.2019.5783.256
نویسندگان
F. Jamshidi1؛ M. Vaghefi* 2
1Department of Electrical Engineering, Faculty of Engineering, Fasa University, Fasa, Iran
2Department of Electrical Engineering, Islamic Azad University, Shiraz Branch, Shiraz, Iran
تاریخ دریافت: 13 دی 1396،  تاریخ بازنگری: 05 تیر 1397،  تاریخ پذیرش: 10 آبان 1397 
چکیده
Background and Objectives: A robot arm is a multi-input multi-output and non-linear system that has many industrial applications. Parameter uncertainties and external disturbances attenuate the performance of this system and a controller design is hence necessary to overcome them.
Methods: In this paper, the interval Type II Fuzzy fractional-order proportional integral differential (IT2FO-FPID) controller is designed to control a robot arm with 2 degrees of freedom (two-link robot arm). Whale optimization algorithm (WOA) is used to determine the optimal value of controller parameters. The performance of IT2FO-FPID is compared with PID, fractional-order PID (FOPID) and Fuzzy FOPID whose parameters are determined by WOA. The performance of IT2FO-FPID whose parameters are determined by WOA, genetic algorithm, and particle swarm optimization methods are compared.
Results: Quantitative and qualitative results of simulations indicate performance improvement with the IT2FO-FPID controller. The ability of WOA in optimizing the parameters of the IT2FO-FPID controller is demonstrated.
Conclusion: Sensitivity analysis and the study of the effect of parameter variations and disturbances confirm the robust performance of WOA-based IT2FO-FPID.
کلیدواژه‌ها
Fractional order proportional integral differential؛ Interval type 2 fuzzy؛ Whale optimization algorithm؛ Genetic algorithm؛ Particle swarm Optimization
مراجع

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