Tracking Control for Robotic Manipulators using Fractional Order Controllers with Computed Torque Control

Abstract

This paper presents the tracking tasks control for a robotic manipulator employing a fractional order PID controller with the computed torque control strategy. The proposed control strategy is contrasted with an integer order PID controller with the computed torque control strategy. The robotic system is a two degree of freedom manipulator simulated using a MSCADAMS/MATLAB cosimulation model. The manipulator dynamic model is identified employing the recursive least squares algorithm. The fractional order PID controller is tuned using optimization techniques. Controllers robustness is evaluated against the presence of external disturbances in the joints torques, random noise in the feedback loop and payload variations. Obtained results show that the fractional order PID controller with the computed torque control strategy has better performance and robust stability against the presence of the analyzed external disturbances for tracking tasks.