Tuning of Fractional Order PID Controller using CS Algorithm for Trajectory Tracking Control

This study deals with a fractional order PfD (FOPID) controller tuned by Cuckoo Search (CS) algorithm for the trajectory tracking control of a highly nonlinear 3 DOF robotic manipulator. For the purpose of comparison, a traditional PED controller is also tuned by CS. In order to optimize the controllers' parameters, four different time domain cost functions are used. The robustness test of the tuned controllers is also investigated for a different trajectory. Finally, the simulation results reveal that the proposed FOPID controller can not only assure excellent tracking performance in Joint space, but also improves the robustness of the system for the different trajectory.