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Comparative Study on Fractional Order PID and PID Controllers on Noise Suppression for Manipulator Trajectory Control

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Book cover Fractional Order Control and Synchronization of Chaotic Systems

Part of the book series: Studies in Computational Intelligence ((SCI,volume 688))

Abstract

The main contribution of this chapter is to demonstrate the sensor and controller noise suppression capabilities of the best tuned Fractional Order-Proportional plus Integral plus Derivative (FO-PID) and classical PID controllers in closed-loop. A complex non-linear and coupled system, a 2-link rigid planar manipulator was considered for the study as it encounters noise in many forms such as sensor and controller noise during the operation in industry. Uniform White Noise (UWN) and Gaussian White Noise (GWN) were considered both for the sensor and the controller in the closed-loop and a comparative study was performed for FO-PID and PID controllers. Both the controllers were tuned using Genetic Algorithm and all the simulations were performed in LabVIEW environment. The simulation results have revealed that FO-PID controller demonstrates superior sensor and controller noise suppression as compared to conventional PID controller in the closed-loop.

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Authors and Affiliations

  1. Department of Instrumentation and Control Engineering, Netaji Subhas Institute of Technology, Sector-3, Dwarka, New Delhi, 110078, India

    Vineet Kumar & K. P. S. Rana

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  1. Vineet Kumar
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  2. K. P. S. Rana
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Correspondence to Vineet Kumar .

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Editors and Affiliations

  1. Faculty of Computers and Information, Benha University Faculty of Computers and Information, AND Nanoelectronics Integrated Systems Center (NISC), Nile University, Egypt. , Benha, Egypt

    Ahmad Taher Azar

  2. Research and Development Centre, Vel Tech University Research and Development Centre, Chennai, Tamil Nadu, India

    Sundarapandian Vaidyanathan

  3. Department of Mathematics and CS, University of Tebessa Department of Mathematics and CS, Tebessa, Algeria

    Adel Ouannas

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Kumar, V., Rana, K.P.S. (2017). Comparative Study on Fractional Order PID and PID Controllers on Noise Suppression for Manipulator Trajectory Control. In: Azar, A., Vaidyanathan, S., Ouannas, A. (eds) Fractional Order Control and Synchronization of Chaotic Systems. Studies in Computational Intelligence, vol 688. Springer, Cham. https://doi.org/10.1007/978-3-319-50249-6_1

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  • DOI: https://doi.org/10.1007/978-3-319-50249-6_1

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