Fractional order controller for trajectory tracking of a two degree of freedom robot manipulator

Abstract

Achieving effective control over robot manipulator is practically very difficult, due to various structured and unstructured uncertainties. But proper control of the manipulators is useful for different applications such as assembly operations, handling machine tools, pick and place work, welding, spray painting etc. In this paper, a fractional order controller is proposed to obtain enhanced smooth control, in terms of error reduction and minimum settling time. To implement fractional order controller ninteger toolbox is used. Comparative analysis of simulated performance with conventional PID controller is presented, which emphasize that fractional order controller provides a better control for tracking of a two DOF robot manipulator.