Design of Fractional-Order PID controller for trajectory tracking control of continuum robots

Continuum robots are the behavioral extension of hyper-redundant usually inspired by living biological organs. These outperform their rigid counterparts regarding high flexibility, dexterity, and most importantly safe interaction. On flip side, they kinematically redundant, highly nonlinear, multi-input, consequently, controlling remains a complex challenging task. To this end, paper proposes Fractional-Order Proportional-Integral-Derivative (FOPID) controller to control continuum robot's end-tip. The proposed is designed inputs class robots, namely Cable-Driven Robot (CDCR). design satisfactorily, Particle Swarm Optimization (PSO) algorithm extracts optimal values controller's parameters. FOPID efficiency performance demonstrated through two simulation examples: set-point tracking point-to-point trajectory tracking. In addition, obtained results compared those provided classical Optimized PID controllers some available schemes. Given results, it clear that performances superior in accuracy smoothness signals.