Comparative Analysis of Conventional and Meta-heuristic Algorithm Based Control Schemes for Single Link Robotic Manipulator

Position control of an actuator, i.e., dc servo due to increase in the demand of robots in industry automation has been proliferated in the recent past. Here, time-domain optimal tuning of Proportional-Integral-Derivative (PID) and Fractional Order PID (FOPID) controller has been carried out for single link manipulator. The gain parameters were tuned using Genetic Algorithm (GA) where an objective function based on the Integral Time Absolute Error (ITAE) as the performance measure was minimized. Being one of the best tuning criteria, ITAE is opted as performance measure to obtain optimized controller parameters. The motivation behind this paper is to apply GA for ITAE minimization on single link manipulator to trace the set point which improves the overall efficiency of the system. So, FOPID control using GA is the best and optimum solution to deal with nonlinearities. In the end, the position tracking problem has been carried out which demonstrates the successful design of controller. The results obtained show the effectiveness of the proposed method.