Fractional‐order dynamics and adaptive dynamic surface control of flexible‐joint robots

Author:

Cheng Chao1ORCID,Shen Haikuo1ORCID

Affiliation:

1. School of Mechanical, Electronic and Control Engineering Beijing Jiaotong University Beijing China

Abstract

AbstractThis paper establishes a novel fractional‐order model for n‐links flexible‐joint (FJ) robots and proposes an adaptive dynamic surface control (DSC) scheme to address the tracking control problem. The fractional‐order FJ model is built by fractional‐order viscoelastic dynamics model to have a more concise form. An adaptive DSC strategy is proposed to address the tracking control problem based on backstepping method. By selecting the appropriate orders for fractional filters, the controller could solve the “explosion of complexity” problem. The unknown nonlinearities of FJ robot systems are approximated by Radial basis function (RBF) neural networks (NNs). Based on the Lyapunov stability theory, the bounds of all signals in the closed‐loop system are achieved. The simulation results confirm the effectiveness of the presented control scheme.

Funder

National Natural Science Foundation of China

Publisher

Wiley

Subject

Control and Systems Engineering,Electrical and Electronic Engineering,Mathematics (miscellaneous)

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