Performance evaluation of an adaptive fractional-order fuzzy PID controller on three-link robotic manipulator system

Abstract Because of their adaptability, three-link robotic manipulator (TLRM) devices are frequently used in industrial automation; yet, their operational complexity makes precise control difficult. In order to improve trajectory tracking along the X and Y directions, an adaptive fractional-order fuzzy PID (AFOFPID) controller is suggested. The optimisation criterion is a weighted mixture of the integral of absolute error (IAE) and the integral of absolute changes in controller output (IACCO), and the controller parameters are adjusted using the Cuckoo Search Algorithm (CSA). To manage changes in system dynamics, the AFOFPID combines a fuzzy logic structure with an adaptive mechanism, and the fractional-order component enhances stability and robustness even further.