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Go to Editorial ManagerThis paper presents a novel control framework for robot manipulator path tracking based on the integration of artificial immune systems, fuzzy logic, and fractional-order PID control. The proposed Fuzzy-Immune Fractional-Order PID (FIFOPID) controller combines immune feedback mechanisms, fuzzy logic reasoning, and fractional-order control principles, with controller parameters optimized using the Clonal Selection Algorithm (CSA). The performance of the FIFOPID controller is evaluated and compared against a Fuzzy-Immune PID (FIPID) controller under identical conditions. Simulation results conducted in MATLAB 2014a with SIMULINK demonstrate that the optimal FIFOPID controller outperforms the FIPID controller in terms of path tracking accuracy and overall control performance, highlighting its potential as an effective approach for precise robotic manipulator control.
Traditional Proportional-Integral-Derivative (PID) controllers continue to produce effective performance in controlling DC motors. Nowadays, advancements in optimization techniques are improving control performance. These techniques minimize fluctuations and accelerate convergence. In this study, the Particle Swarm Optimization (PSO) algorithm was applied using the Integral Time Absolute Error (ITAE) objective function. The PSO used to tune PID parameters in MATLAB/Simulink. The resulting PSO-PID performance was compared with that of a conventional PID controller. The findings indicate that the PSO-PID approach reduces peak overshoot errors from 2.1% to 0.5%. Moreover, the PSO-PID substantially decreases the settling time. Despite adding GA, PSO-PID already shows excellent results (0.93 s settling time, compared with 1.85 s in GA and 1.15 s in classical PID). These improvements contribute to smoother actuator voltage. It can also reduce mechanical and electrical issues and enhance long-term system reliability.
Over the past years, researchers have been focusing on development the robotics and actuation due to increase demand for these applications like industrial engineering, oil industry, healthcare, aerospace … etc. This work involves the design, construction and control of the Shape Memory Alloy (SMA) actuator. The industrial actuator has many characteristics able to be measured, which have an impact on the efficiency and effectiveness of the actuator while the execution of its tasks. The most important measurable characteristics are repeatability and accuracy. The current system typically is using Nitinol (Nickle Titanium Naval Ordinance Lab), which is one of the Shape Memory Alloy that contract when applying specific heat on it, and it can be used as an actuator. This work presents SMA in the shape of a spring to operate and control the accurate position of the 2-D system which containing four SMA springs, two SMA springs for the x -axis and two SMA springs for the y - axis. The theoretical design and calculations for SMA springs have been presented to collect information about the SMA springs. In a practical manner, the SMA spring characteristic like force and displacement were collected by a test bed that was designed and constructs before making the final rig. The setting shape of the SMA spring was presented and done as per the theoretical calculations. In the rig, each axis works as a two-direction actuator, the actuator is not prone to precise position points due to hysteresis and temperature variation. The SMA spring exhibited hysteresis and imprecise pointing, for that employing PID (Proportional Integral Derivative) with tracking mode controller to compensate the hysteresis. PID control system is played a decisive role with tracking mode model that achieves the aim behind the construction of the experimental rig. Good results have been obtained presented in three cases of drawing different shapes.
Using simple analytical procedure, a tuning rules for two degree of freedom (2-DOF) PI/PID controllers are presented. The proposed tuning algorithm assumes first order plus delay time and second order plus delay time as plant models to be controlled. The validity and features of the proposed tuning rules have been investigated by computer simulation study. Simulation study showed that the presented controllers have high performance response for step input changes and also that these rules are robust for load disturbance.