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Cuckoo search algorithm (CSA) and Ant Lion optimization (ALO) algorithm have been explored in this work to optimize the gains of Fractional Order Fuzzy Sliding Mode Proportional Derivative Controller (FOFSMCPD). The controller has been applied to control a highly nonlinear and coupled multi-input multi-output system, i.e. a two link planar rigid robotic manipulator. In present case, the optimization...
A two-link robotic manipulator is a Multi-Input Multi-Output (MIMO), highly nonlinear and coupled system. Therefore, designing an efficient controller for this system is a challenging task for the control engineers. In this paper, the Fractional Order Fuzzy Proportional-Integral-Derivative (FOFPID) controller for a two-link planar rigid robotic manipulator for trajectory tracking problem is investigated...
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