Performance evaluation of an adaptive fractional-order fuzzy PID controller on three-link robotic manipulator system

Sweta; Vinay Kumar Deolia; Jitendra Kumar

doi:10.2478/jee-2026-0004

$Performance evaluation of an adaptive fractional-order fuzzy PID controller on three-link robotic manipulator system Cover$

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Performance evaluation of an adaptive fractional-order fuzzy PID controller on three-link robotic manipulator system

Journal of Electrical Engineering

Volume 77 (2026): Issue 1 (February 2026)

By: Sweta, Vinay Kumar Deolia and Jitendra Kumar

Open Access

|Feb 2026

Abstract

Because of their adaptability, three-link robotic manipulator (TLRM) devices are frequently used in industrial automation; yet, their operational complexity makes precise control difficult. In order to improve trajectory tracking along the X and Y directions, an adaptive fractional-order fuzzy PID (AFOFPID) controller is suggested. The optimisation criterion is a weighted mixture of the integral of absolute error (IAE) and the integral of absolute changes in controller output (IACCO), and the controller parameters are adjusted using the Cuckoo Search Algorithm (CSA). To manage changes in system dynamics, the AFOFPID combines a fuzzy logic structure with an adaptive mechanism, and the fractional-order component enhances stability and robustness even further.

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Articles in this issue

DOI: https://doi.org/10.2478/jee-2026-0004 | Journal eISSN: 1339-309X | Journal ISSN: 1335-3632

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Language: English

Page range: 33 - 40

Submitted on: Nov 11, 2025

Published on: Feb 18, 2026

Published by: Slovak University of Technology in Bratislava

In partnership with: Paradigm Publishing Services

Publication frequency: 6 issues per year

Keywords:

AFOFPID,

CSA,

three-link robotic manipulator (TLRM),

IAE,

fuzzy logic control

Related subjects:

Engineering,

Introductions and overviews,

Engineering, other

© 2026 Sweta, Vinay Kumar Deolia, Jitendra Kumar, published by Slovak University of Technology in Bratislava
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Volume 77 (2026): Issue 1 (February 2026)