Multi Objective PSO Tuned Fractional Order PID Control of Robotic Manipulator

Designing of an efficient control strategy for robotic manipulator is a challenging task for control experts due to inherent nonlinearity and high coupling present in the system. The aim of this paper is to design precise tracking controller with minimum control effort for robotic manipulator. In order to fulfill the aforementioned purpose a fractional order PID controller is proposed. Multi objective particle swarm optimization (MOPSO) is used to optimize parameters value of FOPID controller. The integer order PID is also implemented for comparative study. Results show that the robustness of proposed controller towards trajectory tracking and uncertainty in parameters are superior over traditional PID controller.

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