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Ahmed M. Alkamachi

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Open access Sep 2026

Performance assessment of fractional order PID control for a 2DOF flexible joint robotic manipulator under various operating conditions

Flexible joint robot manipulators (FJM) exhibit high nonlinear dynamics and coupling effects, which make their control a challenging task. This paper proposes a fractional order PID (FOPID) cascade control strategy for a 2DOF FJM. The controller performance is compared with that of a sliding mode controller (SMC) under...

Ahmed M. Alkamachi, A. Mary · 0 citations

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