A Review on Fractional-Order Modelling and Control of Robotic Manipulators

Fractal and Fractional

article

Kishore Bingi¹  B Rajanarayan Prusty²  Abhaya Pal Singh³ 

[1] Department of Electrical and Electronics Engineering, Universiti Teknologi PETRONAS;Department of Electrical and Electronics Engineering, Alliance College of Engineering and Design, Alliance University;Department of Mechanical Engineering and Technology Management, Faculty of Science and Technology, Norwegian University of Life Sciences

关键词: approximation approaches;    fractional calculus;    fractional-order control;    fractional-order model;    industrial manipulators;    optimization techniques;    robotic manipulators;   

DOI  :  10.3390/fractalfract7010077

学科分类：社会科学、人文和艺术（综合）

来源: mdpi

【 摘 要 】

Robot manipulators are widely used in many fields and play a vital role in the assembly, maintenance, and servicing of future complex in-orbit infrastructures. They are also helpful in areas where it is undesirable for humans to go, for instance, during undersea exploration, in radioactive surroundings, and other hazardous places. Robotic manipulators are highly coupled and non-linear multivariable mechanical systems designed to perform one of these specific tasks. Further, the time-varying constraints and uncertainties of robotic manipulators will adversely affect the characteristics and response of these systems. Therefore, these systems require effective modelling and robust controllers to handle such complexities, which is challenging for control engineers. To solve this problem, many researchers have used the fractional-order concept in the modelling and control of robotic manipulators; yet it remains a challenge. This review paper presents comprehensive and significant research on state-of-the-art fractional-order modelling and control strategies for robotic manipulators. It also aims to provide a control engineering community for better understanding and up-to-date knowledge of fractional-order modelling, control trends, and future directions. The main table summarises around 95 works closely related to the mentioned issue. Key areas focused on include modelling, fractional-order modelling type, model order, fractional-order control, controller parameters, comparison controllers, tuning techniques, objective function, fractional-order definitions and approximation techniques, simulation tools and validation type. Trends for existing research have been broadly studied and depicted graphically. Further, future perspective and research gaps have also been discussed comprehensively.

【 授权许可】

CC BY