This paper presents new algorithms of fractional order PD/PDD/PID control based on swarm (PSO) and genetic algorithms (GA) in the control of a 3 DOF`s robotic system driven by DC motors. The optimal settings for a fractional controller as well as integer order PID controller (IOPID) are done, applying GA/PSO tuning approach and their extension for FOPID–IOPID controllers in a comparative manner. The effectiveness of the suggested optimal FOPID control is demonstrated with a given robotic system as an illustrative example.
