Analysis of CSA Tuned FONPID Controller Using Various Integral Based Metrices for Three Link Manipulator

Four various fractional-order nonlinear proportional-integral-derivative (FONPID) controllers are compared in this paper. They were all tuned using the Cuckoo Search Algorithm (CSA) based on various performance metrics, including Integral Absolute Error (IAE), Integral Square Error (ISE), Integral Time Square Error (ITSE) and Integral Time Absolute Error (ITAE). In particular, a three-link robotic manipulator is used in the research to assess how these performance indices affect the overall control accuracy and stability of a nonlinear multi-input multi-output (MIMO) system. To assess control accuracy, trajectory tracking performance, extensive simulations were run. The outcomes show that the system responsiveness, and computational efficiency all differ significantly depending on the performance parameter selected for the FONPID controller optimization. The study emphasizes the benefits of applying CSA for FONPID controller optimization and offers insightful information on tuning techniques for intricate MIMO systems.