Title of article :
real-time fuzzy fractional-order control of electrically driven flexible-joint robots
Author/Authors :
izadbakhsh, alireza islamic azad university, garmsar branch - department of electrical engineering, garmsar, iran , khorashadizadeh, saeed university of birjand - department of electrical and computer engineering, birjand, iran , kheirkhahan, payam islamic azad university, garmsar branch - department of electrical engineering, garmsar, iran
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 :
AUT Journal of Modeling and Simulation
Journal title :
AUT Journal of Modeling and Simulation
