Fractional Order Fuzzy PID Controller for an Electro-Hydraulic Rotary Actuator

Abstract

In this paper, a design of fractional order fuzzy PID controller is presented for position-tracking control of an electro-hydraulic rotary actuator (EHRA) which uses a hydraulic rotary as the end-effector under different working conditions. The proposed controller combines between fractional order PID (FOPID) controller and an intelligent fuzzy rule. In detail, fractional order PID controller with two additional parameters changes the integer order of integral and derivative functions in conventional PID to non-integer order which help to improve tracking, robustness and stability of control performance. A fuzzy logic control system is designed to optimize the parameters of FOPID in term of variant requirements. To verify the proposed controller, simulations by using co-simulation between AMESim and Matlab are carried out. Furthermore, a comparative study with other controllers has been done to demonstrate the effectiveness of the proposed approach.