Performance Analysis for Fractional Order Fuzzy PID Controller: A Comparative Study with Various PID Controller Structures

This paper presents performance analysis for different structures of PID controllers as conventional integer PID, two degrees of freedom 2DOFPID, fractional order FOPID, and Hybrid fractional order fuzzy FOFPID controller algorithms. All are applied to uncertain, highly coupled, and nonlinear two-links robotic manipulator system. Multiple simulation tasks and measurement indices are applied to analyze their performance, controller energy, and find a solution to overcome the nonlinearities and uncertainties of the two-links robot manipulator system. Simulation results show that the tuned Hybrid FOFPID is more robust in case of presence load variation or other disturbances than other structures.