Adjustable convergence rate prescribed performance with fractional-order PID controller for servo pneumatic actuated robot positioning

• Main Authors: Addie Irawan, Hashim, Mohd Iskandar Putra, Azahar, Raja Mohd Taufika, Raja Ismail
• Format: Article
• Language: English
• Published: KeAi, Elsevier 2023
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://umpir.ump.edu.my/id/eprint/37684/1/Adjustable%20Convergence%20Rate%20Prescribed%20Performance%20with%20Fractional.pdf; http://umpir.ump.edu.my/id/eprint/37684/; https://doi.org/10.1016/j.cogr.2023.04.004; https://doi.org/10.1016/j.cogr.2023.04.004

This study presents the method for optimal error tracking in position control for a servo pneumatic actuated robot grasper system using a new adjustable convergence rate prescribed performance control (ACR-PPC). It focuses on improving the feedback controller and the fractional-order proportional-in...