In this paper a novel controller for a flexible link manipulator based on fractional calculus is proposed. A hybrid system that combines the advantages in terms of robustness of the fractional control and the sliding mode control is proposed. Due to adding the extra degree of freedom, the fractional order sliding mode controller can achieve better control performance than the integer order sliding mode controller. For the problem of determining the design parameters, the particle swarm optimization (PSO) algorithm is used. The proposed controller is applied for a single‐link flexible manipulator robot. Finally, the performance and the significance of the closed loop system are investigated. The simulation results signify the performance of the proposed controller.
Fractional-order differentiation offers new degrees of freedom that simplify the design of high-performance dynamic controllers. The CRONE control system design (CSD) methodology proposes the design of robust controllers by using fractional-order operators. A software toolbox has been developed based on this methodology and is freely available for the international scientific and industrial communities. This paper presents both the CRONE CSD methodology and its implementation using the toolbox. The design of two robust controllers for irrigation canals shows how to use the toolbox.
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