Fractional Order Controller Design for A Flexible Link Manipulator Robot

Abstract

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.

Second and Third Generation CRONE Control-System Design

“…The third generation of the CRONE control has been extended to many other SISO systems: nonlinear systems through first order linearization (Delavari et al 2013;Feytout et al 2013) and by using a linearizing technique (Pommier-Budinger 2002;Pommier-Budinger et al 2002); ) and extreme ( and ) closed-loop sensitivity functions, frequency-domain constraints (---) periodic systems (Sabatier 1998); continuous and discrete time-varying systems (Sabatier et al 2003Garcia et al 2012) time-varying systems with asymptotically constant coefficients (Sabatier et al 2002a, b).…”

Recent Results in Fractional-Order Modeling in Multi-Agent Systems and Linear Friction Welding

“…Books on the subject include Baleanu et al (2011); Ortigueira (2011) and review articles include Ortigueira (2008); Machado et al (2011). Other related studies include Silva et al (2004) (walking robots), Delavari et al (2013);Zhao et al (2005) (flexible manipulators), Chen and Moore (2002) (time delays) and control using fractional-order PID control Zhao et al (2005); Monje et al (2008). Studies in other areas such as visco-elastic phenomena can be found in Heymans and Bauwens (1994); Mayes (2012).…”

Theoretical and practical applications of fuzzy fractional integral sliding mode control for fractional-order dynamical system

“…Phase synchronization has been studied for synchronizing fractional-order chaotic systems in [15] by using an active nonlinear feedback control technique, and so on. Especially, the fractional-order controller plays an important role in controlling robots, robotic manipulator and tip position of a lightweight flexible manipulator, for more details see [16][17][18][19] and references therein.…”