Robust Fractional-Order Adaptive Control Design for a Single-Link Flexible Robot Arm

摘要

In this paper, we propose a robust fractional-order direct adaptive model-following scheme (FOMRAC) to control a single flexible robot arm (1DoF). Flexible manipulators, owing to their inherent structural flexibility, present significant control challenges, particularly when dealing with non-fixed payloads. Achieving high performance in terms of speed and accuracy using conventional control strategies becomes exceedingly challenging under such circumstances. Through numerical simulations, we showcase the effectiveness of the fractional-order adaptive controller compared to its integer-order counterpart and its superior performance in managing variations in payload and disturbance rejection when compared to conventional controllers.