Optimal fuzzy PD control for a two-link robot manipulator based on stochastic fractal search

This paper focuses on the design and optimization of Fuzzy PD controllers for a two-link robot manipulator system. The dynamic equations of the two-link robot manipulator are constructed by the Lagrangian approach. The accurate motion of the robot manipulator to the desired position is implemented by fuzzy PD controllers based on the relational model and the computed torque control method. The fuzzy PD controllers are optimized by the stochastic...