A modified fruit fly optimization algorithm and its application to control of robot manipulators

This paper presents a new Modified Fruit Fly Optimization Algorithm (MFOA) which is used to find the optimal PID controllers parameters applied to control a two-link robotic manipulator. The proposed new distribution law in MFOA for some of the fruit flies improves searching diversity in earlier iterations and increases solution precession in last iterations. In order to apply the PID controllers to the robot manipulator, a nonlinear feedback linearization control technique is employed which can fully linearize and decouple nonlinear robot's dynamics. Simulation results confirm that the MFOA-PID controller can achieve better closed-loop system responses with respect to the original FOA-PID controller.