Fractional-order PD control of a parallel Delta robot: Experimental results

Abstract

In this paper, a fractional-order proportional derivative (PD) controller is proposed to improve the trajectory tracking of a parallel Delta robot. The highly coupled dynamics of the Delta robot present challenges for the current PD/PID controllers, resulting in limited tracking performance. To overcome the aforementioned limitation, this work increases the flexibility of the PD controller by introducing a fractional-order derivative operator. Experiments are carried out on the Delta robot to prove the effectiveness of the outlined paper approach.

Keywords

Authors

1. 1Ecole nationale polytechnique