Performance analysis of fractional order fuzzy PID controllers applied to a robotic manipulator

作者：

Highlights：

• Implementation of Fractional Order Fuzzy PID controller for a robotic manipulator.

• Comparison with Fuzzy PID, Fractional Order PID and conventional PID.

• Controllers tuning using Cuckoo Search Algorithm.

• Fractional Order Fuzzy PID controller is found to be superior.

摘要

•Implementation of Fractional Order Fuzzy PID controller for a robotic manipulator.•Comparison with Fuzzy PID, Fractional Order PID and conventional PID.•Controllers tuning using Cuckoo Search Algorithm.•Fractional Order Fuzzy PID controller is found to be superior.

论文关键词：Two-link planar rigid robotic manipulator,Fuzzy logic controller,Fractional order fuzzy PID controller,Cuckoo search algorithm,Trajectory tracking,Robustness testing

论文评审过程：Available online 31 December 2013.

论文官网地址：https://doi.org/10.1016/j.eswa.2013.12.030