Application of the Fractional Order Proportional Integral Derivative Scheme for Two-Link Planar Robot Control
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537-547
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10.58578/ajstea.v4i4.9918
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Authors:Rukayya Aliyu Tilde1, Okpo Uchechukwu Okereke2, Ejike Chibuzo Anene3, Mohammed Ahmed4*
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Abstract
Robotic systems are increasingly important across modern technological and industrial sectors, yet their nonlinear dynamics and demanding operational requirements continue to challenge conventional control approaches. Linear controllers may not adequately manage such systems, whereas nonlinear controllers are often complex to implement. This study proposes and evaluates a Fractional-Order Proportional–Integral–Derivative (FPID) controller for a two-link planar robot and compares its performance with that of a conventional Proportional–Integral–Derivative (PID) controller. The analytical system model was adapted from Nazif et al. (2023), with frictional disturbance incorporated into the evaluation. Sinusoidal and step-response simulations were conducted using MATLAB/Simulink. Under sinusoidal input, the FPID controller improved tracking accuracy by 5% for Link 1 and 18% for Link 2 relative to the PID controller. Under step input, it reduced overshoot by 44% and 38%, improved settling time by 58% and 67%, and increased accuracy by 23% and 24% for Links 1 and 2, respectively. These results demonstrate that the FPID control scheme provides greater accuracy, faster response, lower overshoot, and more robust performance than the conventional PID scheme. The study establishes FPID control as a suitable approach for improving the dynamic performance of two-link planar robots under frictional disturbance and provides a basis for further controller refinement to achieve additional performance gains.
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