Skip Navigation Links
Journal of Applied Nonlinear Dynamics
Miguel A. F. Sanjuan (editor), Albert C.J. Luo (editor)
Miguel A. F. Sanjuan (editor)

Department of Physics, Universidad Rey Juan Carlos, 28933 Mostoles, Madrid, Spain


Albert C.J. Luo (editor)

Department of Mechanical and Industrial Engineering, Southern Illinois University Ed-wardsville, IL 62026-1805, USA

Fax: +1 618 650 2555 Email:

An Application to Robot Manipulator Joint Control by Using Fractional Order Approach

Journal of Environmental Accounting and Management 8(1) (2019) 55--66 | DOI:10.5890/JAND.2019.03.005

Cosmin Copot

University of Antwerp, Department of Electromechanics, Op3Mech Groenenborgerlaan 171, 2020 Antwerp, Belgium

Download Full Text PDF



This paper presents the application of fractional-order control strategy for the velocity control of a manipulator robot joint. A wellknown approach for robot joint control is to use an independent controller for each joint axis with a nested structure: an outer loop which computes the desired joint velocity in order to minimize the position error; and an inner loop which ensures the required velocity of the joint. A fractional-order controller was designed, tested and implemented on a manipulator robot. The communication between the robot and the controller was established via the Robotics System Toolbox fromMatlab® and the ROS (Robot Operating System) platform. The experimental results indicate that the flexibilities of the fractional-order PI controller allows it to outperform the conventional integer-order PI controller.


  1. [1]  Spong, M.W., Hutchinson, S, and Vidyasagar, M. (2006), Robot Modeling and Control, Wiley.
  2. [2]  Bishop, R.H. (2002), The Mechatronics Handbook, CRC Press.
  3. [3]  Steinbuch, M., Merry, R.J.E., Boerlage, M.L.G., Ronde, M.J.C. and van de Molengraft, M.J.G. (2010), Advanced Motion Control Design, In Levin, W.S. (Ed.), The Control Handbook, Control System Application, CRC Press.
  4. [4]  Steinbuch, M, Schootstra, G. and Bosgra, O.H. (2000), Robust control of a compact disc mechanism, In W.S. Levine (Ed.), Control System Applications (pp. 231-237), London: CRC Press.
  5. [5]  Åström, K.J., and Hägglund, T. (2006), Advanced PID control, ISA-The Instrumentation, Systems, and Automation Society.
  6. [6]  Ferreira, N.M.F. and Machado, J.A.T. (2003), Fractional-order hybrid control of robotic manipulators, Proceedings of the 11th International Conference on Advanced Robotics, Coimbra, Portugal, 393-398.
  7. [7]  Kailil, A., Mrani, N., Touati, M.M., Choukri, S. and Elalami, N. (2004), Low earth-orbit satellite attitude stabilization with fractional regulators, International Journal of Systems Science, 35(10), 559-568.
  8. [8]  Padula, F. and Visioli, A. (2011), Tuning rules for optimal PID and fractional-order PID controllers, Journal of Process Control, 21, 69-81.
  9. [9]  Dulf, E.H., Both, R., and Dumitrache, D.C. (2010), Fractional Order Models for a Cryogenic Separation Column, International IEEE International Conference on Automation, Quality and Testing, Robotics - AQTR, pp. 163-169, Cluj-Napoca.
  10. [10]  Monje, C.A., Chen, Y., Vinagre, B., Xue, D., and Feliu, V. (2010), Fractional-order Systems and Controls, Fundamentals and Applications, Springer, London.
  11. [11]  Copot, C., Burlacu, A., Ionescu, C.M., Lazar, C., and De Keyser, R. (2013), A Fractional Order Control Strategy for visual servoing Systems, Journal of Mechatronics, 23, 848-855.
  12. [12]  Pop, C.I., Ionescu, C.M., De Keyser, R., and Dulf, E.H. (2012), Robustness evaluation of Fractional Order Control for Varying Time Delay Processes, Signal, Image and Video Processing, 6, 453-461.
  13. [13]  Oustaloup, A. (1991), La commande CRONE: commande robust d'ordre non entiere, Hermes, Paris, France.
  14. [14]  Vinagre, B.M., Monje, C.A., Calderon, A.J., and Suarez, J.I. (2007), Fractional PID controllers for industry application: a brief introduction, Journal of Vibration and Control, 13, 1419-1429.
  15. [15]  Fan, H., Sun, Y., and Zhang, X. (2007), Research on fractional order controller in servo press control system, Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, Harbin, China, pp. 934-938.
  16. [16]  Ma, C. and Hori, Y. (2004), Fractional order control and its application of controller for robust two-inertia speed control, Proceedings of the 4th International Power electronics and Motion Control Conference, 3, China, pp. 1477-1482.
  17. [17]  Schlegel, M. and Cech, M. (2004), Fractal system identification for robust control, the moment approach, Proceedings of 5th International Carpathian Control Conference, Krakow, pp. 1-6.
  18. [18]  Corke, P.I. (2011), Robotics, Vision & Control, Springer, ISBN 978-3-642-20143-1.
  19. [19]  De Keyser R. and Ionescu C.M. (2006), FRtool: A frequency response tool for CACSD in Matlab, IEEE International Symposium on Computer Aided Control Systems Design, Munich, pp. 2275-C2280.