Woa-Based Interval Type Ii Fuzzy Fractionalorder Controller Design For A Two-Link Robot Arm

A robot arm is a multi-input multi-output and non-linear system that has many industrial applications. parameter uncertainties and external disturbances attenuate the performance of this system and a controller design is hence necessary to overcome them. in this paper, the interval type ii fuzzy fractional-order proportional integral differential (it2fo-fpid) controller is designed to control a robot arm with 2 degrees of freedom (two-link robot arm). whale optimization algorithm (woa) is used to determine the optimal value of controller parameters. the performance of it2fo-fpid is compared with pid, fractional-order pid (fopid) and fuzzy fopid whose parameters are determined by woa. the performance of it2fo-fpid whose parameters are determined by woa, genetic algorithm, and particle swarm optimization methods are compared. quantitative and qualitative results of simulations indicate performance improvement with the it2fo-fpid controller. the ability of woa in optimizing the parameters of the it2fo-fpid controller is demonstrated. sensitivity analysis and the study of the effect of parameter variations and disturbances confirm the robust performance of woa-based it2fo-fpid.