Model Reference Adaptive Fractional Order Controller Design

Abstract

Various controller design strategies have been studied in the past for under-actuated and fully actuated robotic systems to control a specific task in the best possible manner. This chapter proposes an adaptive fractional order (FO) controller design for under-actuated and fully actuated robotic manipulators. Adaptive controllers can adapt to a particular uncertainty inside the plant and give the best possible controlled response[1]. The change may due to variation of an individual parameter or may be due to disturbances. A suitable controller is supposed to adapt to these uncertainties and give the best results.