Comparative study of Fractional Order Controllers for Three-link Robotic Manipulator System

Abstract

A comparative study of fractional order fuzzy PID (FOFPID) controller with fractional order PID (FOPID) controller is carried out for a highly non-linear, three-arm robotic manipulator system. To enhance the efficiency and effectiveness of a manipulator system, number of links is also increased along with the complexity. Trajectory tracking task has been taken to analyze the performances of FOPID and fractional order fuzzy PID (FOFPID) controllers for the comparative study. Gains of the controllers are tuned by Spider Monkey Optimization (SMO) algorithm whereas weighted sum of integral of absolute error and integral of absolute change in controller output is considered as the objective function. Comparative study revealed that FOFPID controller offers better performance between these two controllers.