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.