ENHANCED QUALITY OF CONTROL SYSTEM DESIGN ERABLE CONNECTION

Abstract

In previous researches, the author studied, built the mathematical model of the soft-joint robot with 2 degrees of freedom and designed the sliding mode control to compare with the basic linear controller. The control purpose is finding the working point more optimal than the basic sliding mode control and handling the uncertainties coming from the model is also considered. In this paper, the author proposes a controller designed to control the trajectory of the robot. This controller is designed on the basis of SMC sliding mode controller combined with Lyapunov stabilization and fractional derivative method. The simulation results on Matlab once again confirm the success of this method with the performance of fractional order sliding mode controller for very short and stable transient time with all fractional order derivatives when the system has noise and uncertainty.