Abstract
The paper presents the new algorithms of PID control based on fractional calculus (FC) and optimal procedure in the position and tracking control of robotic system with 3 DOFs driven by DC motors. The objective of this work is to find out optimal settings for a fractional PI <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">α</sup> D <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">β</sup> controller in order to fulfill proposed design specifications for the closed-loop system, taking advantage of the fractional orders, α and β. Finally, the effectiveness of suggested optimal fractional PID control is demonstrated with a suitable robot with three degrees of freedom as the illustrative example.
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