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This paper presents the design and performance comparison of a fuzzy fractional order PIλDµ controller against traditional fuzzy PID and PID controllers for trajectory tracking in a five-degree of freedom redundant robot. The study utilizes artificial bee colony optimization for tuning controller parameters and demonstrates that the fuzzy PIλDµ controller offers superior trajectory tracking and robustness against model uncertainties and disturbances. Simulation results indicate that the proposed controller
- Author
- Carlos Andres
- Language
- EN