Robust Trajectory Tracking Control for Serial Robotic Manipulators Using Fractional Order-Based PTID Controller

The design of advanced robust control is crucial for serial robotic manipulators under various uncertainties and disturbances in case the forceful performance needs industrial applications. Therefore, this work has proposed implementation a fractional order proportional tilt integral derivative (FOPTID) controller joint space 3-DOF manipulator. been designed based on calculus concept to fulfill trajectory tracking with high accuracy also reduce effects from uncertainties. parameters have optimized GWO–PSO algorithm, which hybrid tuning method, by considering time criterion. superior contribution GWO–PSO-based FOPTID demonstrated comparing results those offered PID, FOPID PTID strategies tuned GWO–PSO. examination showed that controller, demonstrates better increased robustness against trajectories, external disturbances, frictions as compared other controllers same operating conditions. In terms robustness, superiority confirmed 20.2% 44.5% reductions errors. Moreover, assessing energy consumption controllers, total all joints remarkably reduced 2.45% others. Consequently, illustrated stable sustains continuous disturbance.