TY - JOUR
T1 - Precise tip-positioning control of a single-link flexible arm using a fractional-order sliding mode controller
AU - Hamzeh Nejad, Farzaneh
AU - Fayazi, Ali
AU - Ghayoumi Zadeh, Hossein
AU - Fatehi Marj, Hassan
AU - HosseinNia, S. Hassan
PY - 2020
Y1 - 2020
N2 - 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 strategy 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. The aim of controller design is reduction of the deviation caused by the link flexibility and then the precision tip positioning control of the single-link flexible arm. In this regard, sliding mode control strategy is performed in two stages. In the first stage, the difference between the motor angle (load angle) and the tip angle of the flexible link is reduced by applying the proposed fractional order sliding mode controller and then, in the second step, the precision tracking of the tip position of the link is done by adding another sliding mode control scheme. The feasibility and effectiveness of the proposed control scheme is demonstrated via numerical simulation results.
AB - 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 strategy 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. The aim of controller design is reduction of the deviation caused by the link flexibility and then the precision tip positioning control of the single-link flexible arm. In this regard, sliding mode control strategy is performed in two stages. In the first stage, the difference between the motor angle (load angle) and the tip angle of the flexible link is reduced by applying the proposed fractional order sliding mode controller and then, in the second step, the precision tracking of the tip position of the link is done by adding another sliding mode control scheme. The feasibility and effectiveness of the proposed control scheme is demonstrated via numerical simulation results.
KW - a single-link flexible arm
KW - fractional order control
KW - Precision tip positioning control
KW - sliding mode control
UR - http://www.scopus.com/inward/record.url?scp=85081917246&partnerID=8YFLogxK
U2 - 10.1177/1077546320902548
DO - 10.1177/1077546320902548
M3 - Article
SN - 1077-5463
VL - 26
SP - 1683
EP - 1696
JO - JVC/Journal of Vibration and Control
JF - JVC/Journal of Vibration and Control
IS - 19-20
ER -