TY - JOUR
N2 - In order to control joints of manipulators with high precision, a position tracking control strategy combining fractional calculus with iterative learning control and sliding mode control is proposed for the control of a single joint of manipulators. Considering the coupling between joints of manipulators, a fractional-order iterative sliding mode cross-coupling control strategy is proposed and the theoretical proof of its progressive stability is given. The paper takes a two-joint manipulator as the research object to verify the control strategy of a single-joint manipulator. The results show that the control strategy proposed in this paper makes the two-joint mechanical arm chatter less and the tracking more accurate. The synchronous control of the manipulator is verified by a three-joint manipulator. The results show that the angular displacement adjustment times of the three-joint manipulator are 0.11 s, 0.31 s and 0.24 s, respectively. 3.25 s > 5 s, 3.15 s of a PD cross-coupling control strategy; 2.85 s, 2.32 s, 4.22 s of a PD iterative cross-coupling control strategy; 0.14 s, 0.33 s, 0.28 s of a fractional-order sliding mode cross-coupling control strategy. The root mean square error of the position error of the designed control strategy is 6.47 × 10-6 rad, 3.69 × 10-4 rad, 6.91 × 10-3 rad, respectively. The root mean square error of the synchronization error is 3.96 × 10-4 rad, 1.36 × 10-3 rad, 7.81 × 10-3 rad, superior to the other three control strategies. The results illustrate the effectiveness of the proposed control method.
L1 - http://www.czasopisma.pan.pl/Content/117012/PDF/art02.pdf
L2 - http://www.czasopisma.pan.pl/Content/117012
PY - 2020
IS - No 3
EP - 519
DO - 10.24425/aee.2020.133915
KW - cross-coupling control
KW - fractional calculus
KW - iterative learning control
KW - PD control
KW - robot arm
KW - sliding mode control
A1 - Zhang, Xin
A1 - Lu, Wen-Ru
A1 - Zhang, Liang
A1 - Xu, Wen-Bo
PB - Polish Academy of Sciences
VL - vol. 69
DA - 2020.09.15
T1 - Application of fractional calculus in iterative sliding mode synchronization control
SP - 499
UR - http://www.czasopisma.pan.pl/dlibra/publication/edition/117012
T2 - Archives of Electrical Engineering
ER -