Journal ArticleDOI
Precise tip-positioning control of a single-link flexible arm using a fractional-order sliding mode controller:
Farzaneh Hamzeh Nejad,Ali Fayazi,Hossein Ghayoumi Zadeh,Hassan Fatehi Marj,S. Hassan HosseinNia +4 more
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An efficient scheme based on fractional order sliding mode control approach for precision tip position control of a single link flexible robot arm that is robust against the system parameters variations such as payload and viscous friction variations in the presence of the sinusoidal disturbance and the unknown Coulomb friction disturbances.Abstract:
This article presents an efficient scheme based on fractional order sliding mode control approach for precision tip position control of a single link flexible robot arm. The proposed control strate...read more
Citations
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Journal ArticleDOI
The design of a fractional-order sliding mode controller with a time-varying sliding surface:
Osman Eray,Sezai Tokat +1 more
TL;DR: Simulation results have shown improved performance of the proposed controller in terms of a decrease in the reaching and settling time, and robustness to disturbances as compared with the related controllers.
Journal ArticleDOI
Chattering-Suppressed Sliding Mode Control for Flexible-Joint Robot Manipulators
Xin Cheng,Huashan Liu,Wenke Lu +2 more
TL;DR: In this paper, a composite chattering-suppressed sliding mode controller is proposed, where a smooth-saturation-function-contained reaching law with adjustable saturation factor is designed to alleviate the inherent chattering phenomenon, and a radial basis function neural network (RBFNN)-based soft computing strategy is applied to avoid the high switching gain that leads to chattering amplification.
Journal ArticleDOI
Experimental implementation of a novel model-free adaptive fractional-order sliding mode controller for a flexible-link manipulator
Mona Raoufi,Hadi Delavari +1 more
TL;DR: In this paper, the authors present an experimental study of a robust control scheme for a single flexible-link manipulator with nonlinear dynamics of flexible manipulators and vibration problems, which is based on a linear control scheme.
Journal ArticleDOI
Design of adaptive optimal robust control for two-flexible-link manipulators in the presence of matched uncertainties:
TL;DR: A novel optimal robust control scheme, with an updated gain under the adaptive law, has been developed in this work for the first time and is capable of optimizing the control inputs while achieving the stability of the examined two-flexible-link manipulator in the presence of model uncertainties and external disturbances.
References
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Book
An Introduction to the Fractional Calculus and Fractional Differential Equations
Kenneth S. Miller,Bertram Ross +1 more
TL;DR: The Riemann-Liouville Fractional Integral Integral Calculus as discussed by the authors is a fractional integral integral calculus with integral integral components, and the Weyl fractional calculus has integral components.
Journal ArticleDOI
Linear Models of Dissipation whose Q is almost Frequency Independent-II
TL;DR: In this paper, a linear dissipative mechanism whose Q is almost frequency independent over large frequency ranges has been investigated by introducing fractional derivatives in the stressstrain relation, and a rigorous proof of the formulae to be used in obtaining the analytic expression of Q is given.
Journal ArticleDOI
Initial Experiments on the End-Point Control of a Flexible One-Link Robot
Robert H. Cannon,Eric Schmitz +1 more
TL;DR: In this paper, the authors present the initial experiments regarding a specific unsolved control problem which appeared to be central to advances in the art of robotics, which involves the control of a flexible member (one link of a robot system).
Journal ArticleDOI
Dynamic analysis of flexible manipulators, a literature review
TL;DR: A survey of the literature related to dynamic analyses of flexible robotic manipulators has been carried out in this article, where both link and joint flexibility are considered in this work and an effort has been made to critically examine the methods used in these analyses, their advantages and shortcomings and possible extension of these methods to be applied to a general class of problems.
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