Improvement of the precision of a two-degree-of- freedom manipulator arm PID controller

Abstract

Manipulator arms play a crucial role in various fields and are used to perform difficult, dangerous, or repetitive tasks, thus making their control highly significant. Different control strategies have been proposed in the literature to achieve their objectives, with the most commonly used being the PID (Proportional-Integral-Derivative) controller, despite its inaccuracies resulting from the mathematical model. To improve the PID control, fractional control can be used. This paper proposes an improvement to the PID control of a two-degree-of-freedom manipulator arm by incorporating a fractional integration operator, namely Euler's Gamma function, in the controllers. The drawbacks observed with the PID controller have been eliminated by using the optimized PID controller (PIDG) with Euler's Gamma function