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• W4309759862 abstract "This work takes advantage of synergetic control theory and fractional calculus to develop and propose fractional synergetic control (FSC) strategy for Four Degrees of Freedom (4-DOF) robot manipulator. The proposed fractional synergetic control is designed to track a joint space as well as workspace desired trajectories. Fractional calculus gives more flexibility in the design since it has a wider stability region. Added to that, as stated in the literature, compared to a similar approach such as sliding mode control, the synergetic control approach converges faster to the equilibrium point, without chattering with a fast response. This paper proposes a new control strategy that takes advantage of fractional calculus and synergetic control theory. This proposed control strategy is tested experimentally on a 4-DOF manipulator to study the performance of the proposed control scheme. The stability of the closed-loop system is proved using the Lyapunov approach. The experimental results have shown that the proposed FSC design has achieved a good tracking performance." @default.
• W4309759862 created "2022-11-29" @default.
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• W4309759862 date "2022-11-21" @default.
• W4309759862 modified "2023-09-24" @default.
• W4309759862 title "Fractional synergetic tracking control for robot manipulator" @default.
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• W4309759862 doi "https://doi.org/10.1080/23307706.2022.2146008" @default.
• W4309759862 hasPublicationYear "2022" @default.
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