Fractional Order Controller Design for A Flexible Link Manipulator Robot

被引：75
|
作者：
Delavari, Hadi [1 ]
Lanusse, Patrick [2 ]
Sabatier, Jocelyn [2 ]
机构：
[1] Hamedan Univ Technol, Dept Elect Engn, Hamadan 65155, Iran
[2] Univ Bordeaux, IMS CNRS UMR5218, F-33405 Talence, France
来源：
ASIAN JOURNAL OF CONTROL | 2013年 / 15卷 / 03期
关键词：
Fractional order control; sliding mode control; flexible link manipulator robot; particle swarm optimization; SYSTEM;
D O I：
10.1002/asjc.677
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：783 / 795
页数：13
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