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Paper
Title

Robust Fractional Order Control of Under-actuated Electromechanical System

Year: 1395
COI: JR_MPMPJ-5-1_006
Language: EnglishView: 77
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Authors

Mohammad Goodarzi - ۱Department of Electrical Engineering, Faculty of Engineering, Garmsar branch, Islamic Azad University,Garmsar, Iran

Abstract:

This paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. The proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. As a result, the proposed controller is simple, fast response and superior to the torque control approaches. It can guarantee robustness of control system to both structured and unstructured uncertainties associated with robot dynamics. The control method is verified by stability analysis. Simulation results on a two-link actuated flexible-joint robot show the effectiveness of the proposed control approach.

Keywords:

Robust Fractional Order Control , Electrically Driven Robots , Flexible-joint Robots

Paper COI Code

This Paper COI Code is JR_MPMPJ-5-1_006. Also You can use the following address to link to this article. This link is permanent and is used as an article registration confirmation in the Civilica reference:

https://civilica.com/doc/1146278/

How to Cite to This Paper:

If you want to refer to this Paper in your research work, you can simply use the following phrase in the resources section:
Goodarzi, Mohammad,1395,Robust Fractional Order Control of Under-actuated Electromechanical System,https://civilica.com/doc/1146278

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Scientometrics

The specifications of the publisher center of this Paper are as follows:
Type of center: Azad University
Paper count: 2,059
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