This paper presents the new algorithms of PID control based on fractional calculus (FC) and an optimal procedure in the position control of a 3 DOF robotic system driven by DC motors. The objective of this work is to find out the optimal settings for a fractional PI D α β controller in order to fulfill the proposed design specifications for the closed-loop system, taking advantage of the fracti...

— The objective of this work is to nd out optimum settings for a fractional PI D controller in order to ful l ve different design speci cations for the closed-loop system, taking advantage of the fractional orders, and . Since these fractional controllers have two parameters more than the conventional PID controller, two more speci cations can be met, improving the performance of the system. Fo...

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 inv...

Fuzzy logic based PID controllers have been studied in this paper, considering several combinations of hybrid controllers by grouping the proportional, integral and derivative actions with fuzzy inferencing in different forms. Fractional order (FO) rate of error signal and FO integral of control signal have been used in the design of a family of decomposed hybrid FO fuzzy PID controllers. The i...

In this paper, we incorporate fuzzy reasoning in fractional-order PD controllers. The resulting fuzzy fractional PD controller is investigated in terms of its digital implementation and robustness. The combined features of both algorithms will result in a better control system performance. Also, the effectiveness and robustness of the new methodology is illustrated through an application exampl...

Proportional Integral Derivative (PID) controller is one of the most classical controllers, which has a good performance in industrial applications. The traditional PID parameter tuning relies on experience, however, intelligent algorithm used to optimize controller, makes it more convenient. Fish Migration Optimization (FMO) an excellent that mimics swim and migration behaviors fish biology. E...

This paper deals with the design, implementation and analysis of an integer order (IO) and fractional order (FO) based Proportional Integral Derivative (PID) controller, for speed regulation in a chopper fed Direct Current (DC) motor drive. The interdependent parameters of PID and FOPID controllers are designed in both time and frequency domain. In both domains, designs of controllers are formu...