Fractional order controller for trajectory tracking of a two degree of freedom robot manipulator

被引：0

作者：

Preyadarchane, Amala ^{[1
]}

Alavandar, Srinivasan ^{[2
]}

机构：

[1] CK Coll Engn & Technol, Dept ECE, Cuddalore, India

[2] Agni Coll Technol, Dept EEE, Madras, Tamil Nadu, India

来源：

2013 FOURTH INTERNATIONAL CONFERENCE ON COMPUTING, COMMUNICATIONS AND NETWORKING TECHNOLOGIES (ICCCNT) | 2013年

关键词：

manipulator control; conventional control; fractional order controller;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Achieving effective control over robot manipulator is practically very difficult, due to various structured and unstructured uncertainties. But proper control of the manipulators is useful for different applications such as assembly operations, handling machine tools, pick and place work, welding, spray painting etc. In this paper, a fractional order controller is proposed to obtain enhanced smooth control, in terms of error reduction and minimum settling time. To implement fractional order controller ninteger toolbox is used. Comparative analysis of simulated performance with conventional PID controller is presented, which emphasize that fractional order controller provides a better control for tracking of a two DOF robot manipulator.

引用

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页数：4

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