Fractional order PID controller tuned by bat algorithm for robot trajectory control

<span>This paper deals with implementing the tuning process of gains fractional order proportional-integral-derivative (FOPID) controller designed for trajectory tracking control two-link robotic manipulators by using a Bat algorithm. Two objective functions weight values assigned has been utilized achieving minimization operation errors in joint positions and torque outputs manipulators. To show effectiveness algorithm FOPID parameters, comparison made particle swarm optimization (PSO). The validity proposed controllers examined case presence disturbance friction. results simulations have clearly explained efficiency tuned as compared PSO </span>