Fractional-order self-tuned fuzzy PID controller for three-link robotic manipulator system

Abstract

With increasing links in a manipulator system, efficacy and usefulness are enhanced along with the complexity. In this paper, a fractional-order self-tuned fuzzy PID (FOSTFPID) controller is investigated to control a highly nonlinear, coupled multi-input multi-output, three-link rigid robotic manipulator system. The performance of FOSTFPID controller is investigated for trajectory tracking, disturbance rejection, noise suppression and model uncertainty. The comparative analysis between the performances of FOSTFPID, fractional-order fuzzy PID and integer-order self-tuning fuzzy PID controllers, all tuned for minimum weighted sum of integral of absolute error and integral of absolute change in controller output using cuckoo search algorithm, revealed a clear superiority of FOSTFPID for trajectory tracking, disturbance rejection, noise suppression and model uncertainty.