Tuning of Fractional Order PID Controller using CS Algorithm for Trajectory Tracking Control

Ayyildiz B. , Karahan O.

6th International Conference on Control Engineering Information Technology - CEIT 2018, İstanbul, Turkey, 25 - 27 October 2018, pp.251-256 identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/ceit.2018.8751895
  • City: İstanbul
  • Country: Turkey
  • Page Numbers: pp.251-256


This study deals with a fractional order PID (FOPID) controller tuned by Cuckoo Search (CS) algorithm for the trajectory tracking control of a highly nonlinear 3 DOF robotic manipulator. For the purpose of comparison, a traditional PID controller is also tuned by CS. In order to optimize the controllers’ parameters, four different time domain cost functions are used. The robustness test of the tuned controllers is also investigated for a different trajectory. Finally, the simulation results reveal that the proposed FOPID controller can not only assure excellent tracking performance in Joint space, but also improves the robustness of the system for the different trajectory.