Self-regulatory Fractional Fuzzy Control for Dynamic Systems: An Analytical Approach

Abstract This paper presents an analytical design of a fractional order fuzzy proportional integral plus derivative (FOFPI + D) controller. Artificial intelligence is incorporated into the controller with help formula-based logic system. The designed scheme combines PI (FOFPI) and D (FOFD) controller, derived from fundamental FOPID control law. proposed enjoys linear structure controllers non-linear gains that provide self-tuning capability. sufficient condition for stability closed-loop system also established using graphical approach. Performance FOFPI D, its integer variant (FPI D), conventional examined highly uncertain two-link robotic manipulator optimum parameters are found by minimising aggregated variation error objective through non-dominated sorting genetic algorithm-II (NSGA-II). comparison trajectory tracking shows has minimum absolute (IAE) compared to other controllers. Further, rigorous performance investigations performed verify robustness against parametric uncertainties, varying boundary conditions reference disturbance rejection. It concluded results exhibits superior performance.