Modeling, Stability and Fractional Control of Single Flexible Link Robotic Manipulator

In the previous chapter, an FMPC controller is explored to control the FO model of robotic manipulators. This chapter deals with the fractional order modeling, stability analysis and control of a single flexible link robotic manipulator (SFLRM). The control law is derived using pole placement (PP) method. This paper uses Mittag-Leffler function for the analysis of SFLRM in the time domain. The stability analysis of the fractional model is carried in a transformed \(\varOmega \)-Domain and from the analysis, it is observed that the response of the fractional model of SFLRM robotic manipulator is stable. The main motive behind this analysis is to understand the fractional behavior of SFLRM and it is well known from the literature that most of the real-world systems have their own fractional behavior. Furthermore, a real-time SFLRM setup is considered to validate the results obtained and it is found that the control law suggested by PP method improves the settling-time of SFLRM.