Enhancing the Performance of a 3-Link Robotic Manipulator using PID and NPID Controllers Tuned by Cuckoo Search, spider Monkey, and Artificial Bee Colony Optimization

Enhancing the Performance of a 3-Link Robotic Manipulator using PID and NPID Controllers Tuned by Cuckoo Search, spider Monkey, and Artificial Bee Colony Optimization | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Enhancing the Performance of a 3-Link Robotic Manipulator using PID and NPID Controllers Tuned by Cuckoo Search, spider Monkey, and Artificial Bee Colony Optimization Ankita Maheshwari, Alka Agrawal, Vishal Goyal This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-9198889/v1 This work is licensed under a CC BY 4.0 License Status: Under Review Version 1 posted 15 You are reading this latest preprint version Abstract Because of their accuracy and adaptability, robotic manipulators are essential in many industries; nevertheless, nonlinear dynamics and outside disturbances make control difficult. In order to operate a three-link robotic manipulator, this study contrasts proportional-integral-derivative (PID) with nonlinear PID (NPID) controllers. Artificial Bee Colony (ABC), Spider Monkey Optimisation (SMO), and Cuckoo Search Algorithm (CSA) methods were used to optimise controller parameters. The NPID controller outperformed the conventional PID in MATLAB/Simulink simulations, which showed that optimised controllers increased tracking accuracy and disturbance rejection. SMO outperformed the other methods in tuning, resulting in increased system adaptability and resilience. 3-link robotic manipulator PID NPID CSA SMO ABC Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Under Review Version 1 posted Reviews received at journal 12 May, 2026 Reviews received at journal 08 May, 2026 Reviews received at journal 08 May, 2026 Reviewers agreed at journal 01 May, 2026 Reviews received at journal 30 Apr, 2026 Reviewers agreed at journal 30 Apr, 2026 Reviews received at journal 30 Apr, 2026 Reviewers agreed at journal 30 Apr, 2026 Reviewers agreed at journal 30 Apr, 2026 Reviewers agreed at journal 30 Apr, 2026 Reviewers invited by journal 28 Apr, 2026 Editor assigned by journal 19 Apr, 2026 Editor invited by journal 17 Apr, 2026 Submission checks completed at journal 16 Apr, 2026 First submitted to journal 16 Apr, 2026 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. 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