Amirkabir University of Technology AUT Journal of Modeling and Simulation 2588-2953 52 1 2020 06 01 Real-time Fuzzy Fractional-Order Control of Electrically Driven Flexible-Joint Robots 11 18 3189 10.22060/miscj.2018.13523.5075 EN Alireza Izadbakhsh Department of Electrical Engineering, Garmsar branch, Islamic Azad University, Garmsar, Iran 0000-0001-5644-1735 Saeed Khorashadizadeh Department of Electrical Engineering, University of Birjand, Birjand, Iran Payam Kheirkhahan Department of Electrical Engineering, Garmsar branch, Islamic Azad University, Garmsar, Iran Journal Article 2017 10 08 Fractional order control of electrically driven flexible-joint robots has been addressed in this paper. The controller design strategy is based on the actuators' electrical subsystem considering to voltage saturation nonlinearity. Hence, the knowledge of the actuator/robot dynamics model is not required as it is for many other control strategies. The overall closed-loop system is proven to be stable and the joint position tracking error is uniformly bounded based on the Lyapunov’s stability concept. The satisfactory performance of the proposed control scheme is verified by experimental results. https://miscj.aut.ac.ir/article_3189_c62ee38a3d3d02c716a096645d4d7744.pdf