Control of Very Lightweight 2-DOF Single-Link Flexible Robots Robust to Strain Gauge Sensor Disturbances: A Fractional-Order Approach

This article deals with the control of two degrees of freedom manipulators that have a flexible and very lightweight link. These robots have a single low-frequency and high-amplitude vibration mode. Their actuators have high friction, and their vibration sensors are often strain gauges that have offset and high-frequency noise. These problems reduce the robot precision and produce noisy control signals that saturate actuators. An efficient...