Fractional-order position/Force robot control

Ferreira, N. M. Fonseca; Tenreiro Machado, J. A.; Cunha, J. Boaventura

http://hdl.handle.net/10400.22/13482

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Authors

Ferreira, N. M. Fonseca

Tenreiro Machado, J. A.

Cunha, J. Boaventura

Abstract(s)

This paper studies fractional order (FO) position/force algorithms in the hybrid control (HC) and the cascade control (CC) of manipulators. The system performance is analyzed in the time and frequency domains, and the effects of joined backlash and flexibility are investigated. The result show that the FO algorithms and the CC architecture have superior robustness and stability.