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Worod Adris Shatnan
Muhanad D. Hashim Almawlawe
Mustafa Abd AL-Aress Jabur


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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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.
Author Biographies

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


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


Mustafa Abd AL-Aress Jabur, Computer Engineering Department / Imam Al-Kadhum College (IKC), Al-Qadisiyah, Iraq Email:



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