Fractional Order Control
of
a Robot System Driven
by DC Motors
Mihailo Lazarević
This
paper
presents the new algorithms of PID control based on fractional
calculus (FC) and an optimal procedure in the position control of a
3 DOF robotic system driven by DC motors. The objective of this work
is to find out the optimal settings for a fractional
controller
in order to fulfill the proposed design specifications for the
closed-loop system, taking advantage of the fractional orders,
and
.
The effectiveness of the suggested optimal fractional PID control is
demonstrated with a suitable robot with three degrees of freedom as
an illustrative example. In addition, this paper proposes a
robust fractional-order sliding mode control of a 3-DOF robot system
driven by DC motors. Primarily, a conventional sliding mode
controller based on a
sliding
surface is designed. Numerical simulations have been carried out to
show the proposed control system's robustness properties as well as
the significance of the proposed control which resulted in reducing
output oscillations (chattering-free) of the given robot. The
simulations also include a comparison of the fractional-order
sliding
mode controller with the standard PD sliding-mode controller.
Key words:
robots, DC motor, robust control, control algorithm, PID algorithm,
fractional order control, vibration setting.