Fractional order sliding mode control for single link flexible manipulator

Mujumdar, Amruta; Kurode, Shailaja; Tamhane, Bhagyashree

doi:10.1109/cca.2013.6662773

Cited by 36 publications

(14 citation statements)

References 10 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…It can even control the objects with uncertain dynamical model [18]. Hence, recently, the fractional-order sliding mode controller has been investigated and applied into many system controls such as: single-link flexible manipulator [19], antilock braking systems [20,21], speed control system for permanent magnet synchronous motor [22]. As a result, the systems with the fractional-order sliding mode controller are of superior quality to traditional controllers.…”

Section: Introductionmentioning

confidence: 99%

Fractional-order sliding mode controller for the two-link robot arm

Nguyen¹

2020

IJECE

View full text Add to dashboard Cite

In this paper, the author proposes a sliding mode controller with the fractional-order for the two-link robot arm. Firstly, the model and dynamic equations of the two-link robot arm are presented. Based on these equations, the author builds the controller for each joint of the robot. The controller is a sliding mode controller with its order is not an integer value. The task of the controller is to adjust the torques acted on the joints in order for the angular coordinates of each link to coincide with the desired values. The effectiveness of the proposed control system is demonstrated through Matlab-Simulink software. The robot model and controller are built to investigate the system quality. The results show that the quality of the control system is very high: there is not the chattering phenomenon of torques, the response angles of each link quickly reach the desired values, and the static error equal to zero.

show abstract

Section: Introductionmentioning

confidence: 99%

Fractional-order sliding mode controller for the two-link robot arm

Nguyen¹

2020

IJECE

View full text Add to dashboard Cite

show abstract

“…Then, the contact force grows slowly [9,6]. However, the control problem of flexible manipulators turns more complex [17,20,3,16,15,4,5].…”

Section: Introductionmentioning

confidence: 99%

Fractional order modelling of contact with the environment in flexible robot applications

Becerra¹,

Tejado²,

Arranz³

et al. 2020

Actas De Las XXXIX Jornadas De Automática, Badajoz, 5-7 De Septiembre De 2018

View full text Add to dashboard Cite

The control of flexible robots that interact with the environment presents some difficulties because the mechanical environment is unknown. In this kind of applications, force robust control rather than position control is required. The purpose of this paper is to model the mechanical impedance of the environment contacted by a flexible link based on the well-known spring-damper system typically used in the literature, considering models of both integer and fractional order. In particular, four models are identified: 1) linear regression model, 2) spring-damper model, 3) spring-damper model that also includes a spring for the robotic arm, and 4) fractional order extension of spring-damper model. Experimental results (impacts with ten different objects) are given to identify the parameters of the considered models. The goodness of the adjustment is analyzed by a set of performance indices. The results show that fractional models may have better performance in comparison with classical alternatives proposed in the literature for the objects used in this study.

show abstract

“…Based on the Lyapunov stability theorem, fractional order switching manifold is provided to assurance of sliding condition. In [22], Majumdar et al presented a fractional order sliding mode control for controlling a single link flexible manipulator. Also, switching surface is obtained based on fractional order derivatives of related differential equations.…”

Section: Introductionmentioning

confidence: 99%

Constrained sliding mode control of nonlinear fractional order input affine systems

Moghaddam

Nikravesh

Khosravi

2019

Journal of Systems Engineering and Electronics

View full text Add to dashboard Cite

Asymptotic stability of nonlinear fractional order affine systems with bounded inputs is dealt. The main contribution is to design a new bounded fractional order chattering free sliding mode controller in which the system states converge to the sliding surface at a determined finite time. To eliminate the chattering in the sliding mode and make the input controller bounded, hyperbolic tangent is used for designing the proposed fractional order sliding surface. Finally, the stability of the closed loop system using this bounded sliding mode controller is guaranteed by Lyapunov theory. A comparison with the integer order case is then presented and fractional order nonlinear polynomial systems are also studied as the special case. Finally, simulation results are provided to show the effectiveness of the designed controller.

show abstract

Fractional order sliding mode control for single link flexible manipulator

Cited by 36 publications

References 10 publications

Fractional-order sliding mode controller for the two-link robot arm

Fractional-order sliding mode controller for the two-link robot arm

Fractional order modelling of contact with the environment in flexible robot applications

Constrained sliding mode control of nonlinear fractional order input affine systems

Contact Info

Product

Resources

About