Comparative Study of Fuzzy PID and PID Controller Optimized with Spider Monkey Optimization for a Robotic Manipulator System

Abstract

\n\nRobotic manipulator system has been useful in many areas like chemical\nindustries, automobile, medical fields etc. Therefore, it is essential to implement a controller for controlling\nthe end position of a robotic armeffectively. However, with the increasing non-linearity and\nthe complexities of a robotic manipulator system, a conventional Proportional-Integral-Derivative\ncontroller has become ineffective. Nowadays, intelligent techniques like fuzzy logic, neural network\nand optimization algorithms has emerged as an efficient tool for controlling the highly complex nonlinear\nfunctions with uncertain dynamics.\n\n\n\nTo implement an efficient and robustcontroller using Fuzzy Logic to effectively control\nthe end position of Single link Robotic Manipulator to follow the desired trajectory.\n\n\n\nIn this paper, a Fuzzy Proportional-Integral-Derivativecontroller is implemented whose\nparameters are obtainedwith the Spider Monkey Optimization technique taking Integral of Absolute\nError as an objective function.\n\n\n\n Simulated results ofoutput of the plants controlled byFuzzy Proportional-Integral-\nDerivative controller have been shown in this paper and the superiority of the implemented controller\nhas also been described by comparing itwith the conventional Proportional-Integral-Derivative\ncontroller and Genetic Algorithm optimization technique.\n\n\n\nFrom results, it is clear that the FuzzyProportional-Integral-Derivativeoptimized with\nthe Spider monkey optimization technique is more accurate, fast and robust as compared to the Proportional-\nIntegral-Derivativecontroller as well as the controllers optimized with the Genetic algorithm\ntechniques.Also, by comparing the integral absolute error values of all the controllers, it has\nbeen found that the controller optimized with the Spider Monkey Optimization technique shows\n99% better efficacy than the genetic algorithm technique.\n