Study of SMO optimized Self Organizing behavior of Fuzzy Logic Controller to control the Non-Linear Complex processes

Abstract

The conventional Proportional-Integral-Derivative (PID) controller is not capable to handle the non-linear complex plants with uncertain dynamics. To resolve this problem, this paper addresses the significance of a hybrid PID controller based on the self organizing behavior of the Fuzzy controller (SOFC). To describe the efficacy of the controller, it has been applied to the robotic manipulator to control the movement of its links in a desired path. The parameters of the controller are estimated by applying a new Spider Monkey Optimization (SMO) algorithm on the basis of cost function taken as the weighted sum of the Integral of Absolute Error (IAE) of the links. In addition to this the superiority of the controller is also checked for disturbance and noise rejection as well as the robustness against parameter variations. With the simulated results, it can be clearly describe that the SOFC controller outperformed the conventional PID controller.