This is the same question as "which fruit is better?" :-)
If you are looking for a well tested framework, than you should choose aura php or cake php. At aura you could only take, what you. You don´t need to take the whole Framework.
Zend Framework 1 was good, but Zend Framework 2 is just confused. So I would rather not choose Zend!
PS: node.js with typescript is also good and got many common function, which PHP doesn´t have.