Precise tip-positioning control of a single-link flexible arm using a fractional-order sliding mode controller

This article presents an efficient scheme based on fractional order sliding mode control approach for precision tip position control of a single link flexible robot arm. The proposed control strategy is robust against the system parameters variations such as payload and viscous friction variations in the presence of the sinusoidal disturbance and the unknown Coulomb friction disturbances. The aim of controller design is reduction of the...