摘要
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.
