Comparative performance analysis of robust and adaptive controller for three-link robotic manipulator system

Sweta – Vinay Kumar Deolia – Jitendra Kumar

   Three-link robotic manipulator systems (TLRMS) often used in automation industries offer many capabilities, but become very complex in terms of their control and operations. In order to enhance trajectory tracking in the X and Y axes, this study investigates the application of a fractional-order nonlinear proportional, integral, and derivative (FONPID) controller for a three-link robotic manipulator system (TLRMS). Using a cost function that combines the integral of square error (ISE) and the integral of absolute change in controller output (IACCO), the cuckoo search algorithm (CSA) maximises the performance of the controller. The fractional-order term enhances the robustness and the nonlinear term supports the adaptiveness of the FONPID controller. The fractional-order proportional, integral, and derivative (FOPID) and classic PID controllers are contrasted with the FONPID controller's efficacy. The findings show that the CSA-tuned FONPID performs better than the other controllers, providing more robust and accurate tracking. By demonstrating fractional-order control's promise for intricate robotic systems, this study advances the discipline.

Keywords: fractional-order operator, FOPID controller, FONPID controller, Three-link robotic manipulator system, CSA

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