Fractional Order Modeling and Control of an Articulated Robotic Arm
Received: 11 August 2023 | Revised: 4 September 2023 and 20 September2023 | Accepted: 29 September 2023 | Online: 15 September 2023
Corresponding author: Rasheed Abdulkader
Abstract
This paper presents a fractional order system modeling of a robotic arm and the development of a Fractional Order PID (FOPID) controller applied to the system. The controller technique originated from non-integer calculus, which improves the robotic arm's overall stability and positioning. The robotic arm system is modeled using the non-integer order technique in order to improve system accuracy. Thus, a non-integer order Proportional Integral Derivative (PID) control method is implemented to stabilize the plant positioning. Using MATLAB/Simulink the FOPID controller simulations were confirmed and compared to the Integer Order PID (IOPID) controller for tracking the robotic arm positioning. Simulation outcomes imply that the proposed non-integer controller increases the system stability and position with/without external disturbances being present in the environment.
Keywords:
robotic arm, articulated manipulator, fractional order control, fractional order modelingDownloads
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Copyright (c) 2023 Sabir Husnain, Rasheed Abdulkader
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