Passivity-based control of a single-link flexible manipulator using fractional controllers

This work presents a new methodology for the design of passivity-based controllers of fractional order for single-link flexible robots. In this work, some previously developed passivity-based controllers, which have robust stability to parametric uncertainties and spillover effects, are extended by using phase-lag controllers of fractional order. The extra degree of freedom supplied by these controllers is used to enhance the phase margin robustness of these systems and the sensitivity to sensor high-frequency noise. These controllers are applied to the position control of a single-link flexible robot. Experiments show that fast and precise vibration-free movements of a flexible robot are achieved. Also, the property of phase margin robustness to changes in the payload using this new controller is experimentally assessed.