In this paper, a novel fractional-order control strategy for the SCARA robot is developed. The proposed control is composed of [Formula: see text] and a fractional-order passivity-based adaptive controller, based on the Caputo–Fabrizio and Atangana–Baleanu derivatives, respectively; both controls are robust to external disturbances and change in the desired trajectory and effectively enhance the performance of robot manipulator. The fractional-order dynamic model of the robot manipulator is obtained by using the Euler–Lagrange formalism, as well as the model of the induction motors which are the actuators that drive their joints. Through simulations results, the effectiveness and robustness of the proposed control strategy have been demonstrated. The performance of the fractional-order proposed control method is compared with its integer-order counterpart, composed of the PI controller and the conventional passivity-based adaptive controller, reported in the literature. The performance comparison results demonstrate the superiority and effectiveness of the fractional-order proposed control strategy for a SCARA robot manipulator.

中文翻译：

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用于机器人机械手型 SCARA 的基于分数阶无源性的自适应控制器

在本文中，开发了一种新的 SCARA 机器人分数阶控制策略。所提出的控制由[公式：见正文]和一个基于分数阶无源性的自适应控制器组成，分别基于 Caputo-Fabrizio 和 Atangana-Baleanu 导数；这两种控制对外部干扰和期望轨迹的变化都具有鲁棒性，有效地提高了机器人机械手的性能。机器人机械臂的分数阶动力学模型是通过使用欧拉-拉格朗日形式以及作为驱动其关节的执行器的感应电机的模型获得的。通过仿真结果，证明了所提出的控制策略的有效性和鲁棒性。分数阶提出的控制方法的性能与文献中报道的由 PI 控制器和传统的基于无源自适应控制器组成的整数阶对应方法进行了比较。性能比较结果证明了分数阶提出的 SCARA 机器人机械手控制策略的优越性和有效性。