Title of article :
Real-time Fuzzy Fractional-Order Control of Electrically Driven Flexible-Joint Robots
Author/Authors :
izadbakhsh ، Alireza Department of Electrical Engineering - Islamic Azad University, Garmsar branch , khorashadizadeh ، saeed Department of Electrical and computer Engineering - University of Birjand , Kheirkhahan ، Payam Department of Electrical Engineering - Islamic Azad University, Garmsar branch
Abstract :
Fractional order control of electrically driven flexiblejoint robots has been addressed in this paper. The controller design strategy is based on the actuators’ electrical subsystem considering to voltage saturation nonlinearity. Hence, the knowledge of the actuator/robot dynamics model is not required as it is for many other control strategies. The overall closedloop system is proven to be stable and the joint position tracking error is uniformly bounded based on the Lyapunov’s stability concept. The satisfactory performance of the proposed control scheme is verified by experimental results.
Keywords :
Actuator saturation , flexible , joint manipulator , fractional , order control , indirect adaptive fuzzy control , voltage control strategy
Journal title :
Amirkabir International Journal of Modeling,Identification,Simulation and Control
Journal title :
Amirkabir International Journal of Modeling,Identification,Simulation and Control
