A note on “Fractional-order adaptive backstepping control of robotic manipulators in the presence of model uncertainties and external disturbances”

Abstract

This article extends the finite-time control and stabilization of the paper “fractional-order adaptive back stepping control of robotic manipulators in the presence of model uncertainties and external disturbances” to voltage level control. In practi- cal applications, bounded voltage is applied to the robot joint motors. This fact is presumed in designing the controller and analyzing the stability. It is proved that the controlled system is robust and BIBO stable. The uniformly boundedness of the joint angle tracking error is also validated utilizing the Lyapunov lemma. The presented approach is less conservative than the work presented by the aforementioned article, since it does not require any knowledge of the manipulator dynamic parameters and their upper bound. The experimental outcomes validate the acceptable functioning of the presented controller.