Fuzzy controller optimized by the African vultures algorithm for trajectory tracking of a two-link gripping mechanism

This paper presents the proportional-derivative fuzzy controller for trajectory tracking of gripping mechanism with two degrees freedom. Aiming to achieve movement without sudden starting and stopping, a polynomial velocity profile is utilized. The African vultures optimization, as one latest metaheuristic algorithms, used obtain optimal input/output scaling gains proposed according selected fitness function. results obtained by this algorithm are compared other three new popular algorithms: whale ant lion optimization sine cosine algorithm. Moreover, simulation study was done defined initial position scenario where there certain deviation because not at its original position. Finally, robustness tested case when masses segments increase times. revealed that suggested capable dealing nonlinearities mechanism, parameter changes. smooth follows trajectory.