Page 182 - IJOCTA-15-4

Oleiwi et al. / IJOCTA, Vol.15, No.4, pp.706-727 (2025)
Table 9. Detailed features across controllers under the condition of a 10% increase in M c , an initial values set
to (0.2, −0.5, −0.8) rad, and disturbance

Controller Link Rise time (s) Settling time (s) Overshoot (%) ITSE
L1 0.160 5.360 6.253 0.000762
Con-PID L2 0.169 8.053 23..950 0.006914
L3 0.208 https://doi.org/10.000 60.150 0.083883
L1 0.051 https://doi.org/10.000 39.320 0.004185
STNN–PID L2 0.055 9.661 27.969 0.041030
L3 1.097 https://doi.org/10.000 198.040 2.627539
L1 0.040 5.939 11.895 0.000416
NN–PID L2 0.460 6.156 17.696 0.008044
L3 0.706 https://doi.org/10.000 61.250 0.065506
Abbreviations: Con-PID: Conventional proportional-integral-derivative control;
ITSE: Integral time square error; NN: Neural network; STNN: Self-tuning neural network.

Author contributions 4. Wanigasekara C, Swain A, Almakhles D, Zhou
L. Design of delta–sigma-based PID controller for
Conceptualization: Bashra Kadhim Oleiwi, Mo-
networked wind energy conversion systems. IEEE
hamed Jasim Mohamed, Ahmad Taher Azar, Trans Ind Appl. 2022;58(1):879-889.
Ahmed Redha Mahlous https://doi.org/10.1109/TIA.2021.3126574
Formal analysis: Bashra Kadhim Oleiwi, Mo- 5. Ahmed S, Azar AT, Tounsi M, Anjum Z. Tra-
hamed Jasim Mohamed, Ahmad Taher Azar, jectory tracking control of Euler–Lagrange sys-
Ahmed Redha Mahlous, and Walid El-Shafai tems using a fractional fixed-time method. Fractal
Investigation: Bashra Kadhim Oleiwi, Mohamed Fract. 2023;7(5):355.
Jasim Mohamed, Ahmad Taher Azar, Ahmed https://doi.org/10.3390/fractalfract7050355
Redha Mahlous, and Walid El-Shafai 6. Devaraj SV, Gunasekaran M, Sundaram E, et
al. Robust queen bee assisted genetic algorithm
Methodology: Bashra Kadhim Oleiwi, Mohamed
(QBGA) optimized fractional order PID (FOPID)
Jasim Mohamed, Ahmad Taher Azar, Ahmed
controller for not necessarily minimum phase
Redha Mahlous, and Walid El-Shafai
power converters. IEEE Access. 2021;9:93331-
Writing–original draft: Bashra Kadhim Oleiwi
93337.
Writing–review & editing: All authors https://doi.org/10.1109/ACCESS.2021.3091760
7. Mohamed MJ, Oleiwi BK, Abood LH, Azar AT,
Availability of data Hameed IA. Neural fractional order PID con-
trollers design for 2-link rigid robot manipulator.
The datasets generated and/or analyzed during Fractal Fract. 2023;7(9):693.
the current study are available from the corre- https://doi.org/10.3390/fractalfract7090693
sponding author upon reasonable request. 8. Saha A, Bhaskar MS, Almakhles D, Elmorshedy
MF. Optimization of dual-stage controllers in
renewable energy sources-based interconnected
AI tools statement power systems through refinement of the African
Vultures Optimization Algorithm. Ain Shams
All authors confirm that no AI tools were used in
Eng J. 2024;15(11):103039.
the preparation of this manuscript.
https://doi.org/10.1016/j.asej.2024.103039
9. Mohammed A, Hossein M. Robust tracking con-
References trol of flexible manipulators using hybrid back-
stepping/nonlinear reduced-order active distur-
1. Elsisi M, Zaini HG, Mahmoud K, Bergies S,
bance rejection control. ISA Trans. 2024;149:229-
Ghoneim SSM. Improvement of trajectory track-
236.
ing by robot manipulator based on a new co-
https://doi.org/10.1016/j.isatra.2024.04.026
operative optimization algorithm. Mathematics.
10. Tlijani H, Jouila A, Nouri K. Wavelet neural net-
2021;9(24):3231.
work sliding mode control of two rigid joint robot
https://doi.org/10.3390/math9243231
manipulator. Adv Mech Eng. 2022;14(8):1-13.
2. Baccouch M, Dodds S. A two-link robot manipu-
https://doi.org/10.1177/16878132221119886
lator: simulation and control design. Int J Robot
11. Bankole AT, Igbonoba EEC. Simulation-based
Eng. 2020;5(2):1-17.
novel hybrid proportional derivative/H-infinity
https://doi.org/10.35840/2631-5106/4128
controller design for improved trajectory track-
3. Ahmed S, Ghous I, Mumtaz F. TDE based model-
ing of a two-link robot arm. J Shanghai Jiaotong
free control for rigid robotic manipulators under
Univ (Sci). 2023;28:673-687.
nonlinear friction. Sci Iran. 2024;31(2):137-148.
https://doi.org/10.1007/s12204-023-2660-5
https://doi.org/10.24200/sci.2022.57252.5141
724