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Worod Adris Shatnan
worod.adris@qu.edu.iq
https://orcid.org/0009-0009-2200-0822
Muhanad D. Hashim Almawlawe
Muhanad.almawlawe@qu.edu.iq
https://orcid.org/0000-0002-3862-9395
Mustafa Abd AL-Aress Jabur
mustafa.abd@alkadhum-col.edu.iq
https://orcid.org/0009-0006-5066-8545

Abstract

The present study explores the guidance of a robotic arm along a predefined path by implementing an optimal fuzzy fractional order PID controller-based control strategy. This method serves as a means to address the nonlinearity and unpredictability of the robotic manipulator, contingent upon the fuzzy logic controller's specifications and the employment of a clonal selection algorithm. The dynamic equation of the manipulator was considered as an initial point, followed by designing a fuzzy controller for this purpose. To validate the effectiveness of this approach, it was compared to other techniques, such as Fuzzy, Fuzzy-PID, and fuzzy-FOPID controllers, with PID and FOPID controller parameters optimized using clonal selection algorithms. Simulation results reveal that the fuzzy-FOPID variant outperformed other methods under varying load conditions and model uncertainties, using SIMULINK/MATLAB 2014a.

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How to Cite
Shatnan, W. A., Almawlawe, M. D. H., & Jabur, M. A. A.-A. (2023). Optimal Fuzzy-FOPID, Fuzzy-PID Control Schemes for Trajectory Tracking of 3DOF Robot Manipulator . Tikrit Journal of Engineering Sciences, 30(4), 46–53. https://doi.org/10.25130/tjes.30.4.6
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Articles
Author Biographies

Worod Adris Shatnan, Electronic &Communication Department / College of Engineering /Al-Qadisiyah University / Al-Qadisiyah, Iraq

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Muhanad D. Hashim Almawlawe, Electronic &Communication Department/ College of Engineering /Al-Qadisiyah University / Al-Qadisiyah, Iraq.

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Mustafa Abd AL-Aress Jabur, Computer Engineering Department / Imam Al-Kadhum College (IKC), Al-Qadisiyah, Iraq Email: mustafa.abd@alkadhum-col.edu.iq

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