Call for Paper - August 2019 Edition
IJCA solicits original research papers for the August 2019 Edition. Last date of manuscript submission is July 20, 2019. Read More

Trajectory Tracking Control for Robot Manipulator using Fractional Order-Fuzzy-PID Controller

International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Year of Publication: 2016
Reham H. Mohammed, Fahmy Bendary, Kamel Elserafi

Reham H Mohammed, Fahmy Bendary and Kamel Elserafi. Article: Trajectory Tracking Control for Robot Manipulator using Fractional Order-Fuzzy-PID Controller. International Journal of Computer Applications 134(15):22-29, January 2016. Published by Foundation of Computer Science (FCS), NY, USA. BibTeX

	author = {Reham H. Mohammed and Fahmy Bendary and Kamel Elserafi},
	title = {Article: Trajectory Tracking Control for Robot Manipulator using Fractional Order-Fuzzy-PID Controller},
	journal = {International Journal of Computer Applications},
	year = {2016},
	volume = {134},
	number = {15},
	pages = {22-29},
	month = {January},
	note = {Published by Foundation of Computer Science (FCS), NY, USA}


Robotic manipulator is a Multi-Input Multi-Output (MIMO), highly nonlinear and coupled system. Therefore, designing an efficient controller for this system is a challenging task for the control engineers. In this paper, the Fractional Order-Fuzzy- Proportional Integral Derivative (FO-Fuzzy-PID) controller is investigated for the first three joints of robot arm (PUMA 560) for trajectory tracking problem. To study the effectiveness of FO-Fuzzy-PID controller, its performance is compared with other three non model controllers namely Fuzzy-PID, Fractional Order PID (FOPID) and conventional PID. Genetic algorithm (GA) optimization technique was used for tuning parameters of FOPID and conventional PID controllers. Simulation results clearly indicate the superiority of FO-Fuzzy-PID controller over the other controllers for trajectory tracking, better steady state and RMS errors. All controllers were tested by simulation under the same conditions using SIMULINK under MATLAB2013a.


  1. S. Yadegar an Azura binti Che Soh ,"Design Stable Robust Intelligent Nonlinear Controller for 6- DOF Serial Links Robot Manipulator", International Journal of Intelligent Systems and Applications (IJISA), MECS, July 2014, pp.19-38.
  2. Ch. R. Kumar, K. R. Sudha, D. V. Pushpalatha and Ch. V. N. Raja , "Fuzzy C-Means Controller for a PUMA-560 Robot Manipulator", IEEE Workshop on Computational Intelligence: Theories, Applications and Future Directions, IIT Kanpur, India, July 2013,pp. 57-62 .
  3. F. Piltan, S. Emamzadeh, Z. Hivand, F. Shahriyari and M. Mirzaei," PUMA-560 Robot Manipulator Position Sliding Mode Control Methods Using Matlap / Simulink and Their Integration into Graduate/Undergraduate Nonlinear Control, Robotics and MATLAB Courses", International Journal of Robotic and Automation, Volume (6) : Issue (3) , 2012, pp.167-191.
  4. Siciliano, Bruno, and Oussama Khatib, Springer handbook of robotics: Springer Science & Business Media, 2008.
  5. D. Breen, D. Kennedy and E. Coyle, "Thermal Robotic Arm Controlled Spraying via Robotic Arm and Vision System", PhD Thesis, School of Electrical Engineering Systems Dublin Institute of Technology Ireland, January 2010.
  6. M. D. Youns, S. M. Attya and A. I. Abdulla, "Position Control of Robot Arm Using Genetic Algorithm Based PID Controller", Al-Rafidain Engineering, Mosul, Iraq, Vol.21,No. 6, December 2013,pp. 19-30.
  7. Z. Bingul and O. Karahan," Fractional PID controllers tuned by evolutionary algorithms for robot trajectory control", Turkish Journal of Electrical Engineering & Computer Sciences, Vol.20, No.Sup.1, 2012, pp. 1123-1136.
  8. D. Valerio and J. Sa da Costa," Optimisation of non-integer order control parameters for a robotic arm", In 11th International Conference on Advanced Robotics, Coimbra, 2003.
  9. M. R. Faieghi and A. Nemati, "On Fractional-Order PID Design, Applications of MATLAB in Science and Engineering, ISBN: 978-953-307-708-6, InTech, 2011, Available from: /applications-of- matlab-in-science-and-engineering /on fractional -order-pid-design.
  10. P.I. Corke and B. Armstrong-Helouvry, “A search for consensus among model parameters reported for the PUMA 560 robot,” Proceedings of the 1994 IEEE International Conference on Robotics and Automation, Vol. 2, 1994, pp. 1608-1613.
  11. J. Han, “From PID to active disturbance rejection control,” IEEE Trans. Ind. Electron., vol. 56, no. 3, Mar. 2009, pp. 900–906.
  12. J. J. D'Azzo, C. H. Houpis and S. N. Sheldon, "Linear control system analysis and design with MATLAB", CRC, 2003.
  13. M. R. Abu Qassem, H. Elaydi and I. Abuhadrous, " Simulation and Interfacing of 5 DOF Educational Robot Arm", MS.c, Islamic University of Gaza ,Electrical Engineering Department June 2010.
  14. Z. Alassar, H. Elaydi and I. Abuhadrous "Modeling and Control of 5DOF Robot Arm Using Supervisory Control", MS.c, Islamic University of Gaza , Electrical Engineering Department, March 2010.
  15. Potkonjak V., "Thermal criterion for the selection of DC drives for industrial robots", Proc. 16th Int. Symp. On Industrial Robots, Brussels, Belgium, September-Oct.1986, p. 129-140.
  16. S. E. Hamamci, “An algorithm for stabilization of fractional-order time delay systems using fractional-order PID controllers,” IEEE Trans. Autom. Control, vol. 52, no. 10, Oct. 2007, pp. 1964–1969.
  17. M. Ö. Efe, “Neural network assisted computationally simple PIλDμ control of a quadrotor UAV”, IEEE Trans. Ind. Informat., vol. 7, no. 2, May 2011, pp. 354–361.
  18. Chedmail P., Gautier M. "Optimum choice of robot actuators", Trans, of ASME, J. of Engineering for Industry, Vol. 112 , No. 4, 1990, p. 361-367.
  19. G.U.V.Ravi Kumar and Mr.Ch.V.N.Raja," Control of 5 DOF Robot Arm using Fuzzy Supervisory Control", International Journal of Emerging Trends in Engineering and Development Vol.2, No. 4, ,March 2014, Available online on http:// www.rspublication .com /ijeted/ijeted_index.htm ISSN 2249-6149,pp. 294-306.
  20. T. pattaradej, G. Chen and P. Sooraksa, "Design and Implementation of Fuzzy PID Control of a bicycle robot", Integrated computer-aided engineering, Vol.9, No.4, 2002.
  21. D. Xue and Y. Chen, “A Comparative Introduction of Four Fractional Order Controllers,” in Proceedings of the 4th World Congress on Intelligent Control and Automation, 2002, pp. 3228–3235.
  22. Podlubny, “Fractional-order systems and PIλDμ controller,” IEEE Trans. Automatic Control, vol. 44, no. 1, pp. 208–214, 1999.
  23. H. Delavari, R. Ghaderi, A. Ranjbar N., S.H. HosseinNia and S. Momani, "Adaptive Fractional PID Controller for Robot Manipulator", The 4th IFAC Workshop Fractional Differentiation and its Applications. Badajoz, Spain, October 18-20, 2010, pp. 1-7.
  24. Mahmoud M. Al Ashi, H. Elaydi and I. Abu Hadrous,"Trajectory Tracking Control of A 2-DOF Robot Arm Using Neural Networks", MS.c, Islamic University of Gaza, Electrical Engineering Department, Feb. 2014.
  25. K. A. EL Serafi, K. Z. Moustafa, and A. A. Sallam “An Adaptive Neuro Controller for Robotic Manipulator”, IEEE Int. Conf. on Electronics, Circuits, and Systems, Cairo, December 15-18, 1997.
  26. Spong, Mark W. "Vidyasagar, Robot Dynamics and Control." John and Wiley and Sons , 1989.
  27. Green,A.,and Sasiadek, J.Z. ,"Dynamics and trajectory tracking control of a two-link robot manipulator" , J. Vibr. Control10, Vol.10, 2004, PP.1415–1440.


PUMA560, Quantico polynomial trajectories planning, Proportional Integral Derivative (PID) controller, Fuzzy-PID, Fractional Order PID (FOPID), Fractional Order-Fuzzy-PID (FO-Fuzzy-PID).