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

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.