Real-time Fuzzy Fractional-Order Control of Electrically Driven Flexible-Joint Robots

Fractional order control of electrically driven flexible-joint robots has been addressed in this paper. The controller design strategy is based on the actuators' electrical subsystem considering to voltage saturation nonlinearity. Hence, the knowledge of the actuator/robot dynamics model is not required as it is for many other control strategies. The overall closed-loop system is proven to be stable and the joint position tracking error is uniformly bounded based on the Lyapunov’s stability concept. The satisfactory performance of the proposed control scheme is verified by experimental results.