Trajectory Following of an Industrial Robot using Optimized Fractional Order PID Controller.

In this paper, the multi-variable control of a two-link robot is considered. Industrial robots, such as robot of two degrees, are the highest acceptable robots in industry and academic environments. Because of the dynamic control of the new challenges the Multi-input, multi-output systems face, which can obtain robust control methods, this deficiency leads to excessive minimum value. In this paper an optimized fractional order PID controller by genetic algorithm and pattern search algorithm is used to control robot trajectory. As a result, the ability to have disturbance rejection system has a major impact on total control.