This paper presents an experimental study of a robust control scheme for a single flexible-link manipulator. Regarding the nonlinear dynamics of flexible manipulators and vibration problems associated with these robots, this study aims to propose a novel fractional-order controller for efficient reference tracking, even in the presence of noise and total disturbances. In this regard, the control term is formulated by adopting the intelligent proportional–integral–derivative (PID) (iPID) technique and sliding mode control. As for estimating unknown states of the system, and ensuring that time-variable disturbances are well-handled and they do not excite vibrating modes, the generalized proportional integral (GPI) observer is utilized. Then, the adaptive reaching laws are derived along with the Lyapunov stability analysis, and finite-time convergence of the sliding surface is proven. Finally, well-trajectory tracking and robustness of the system are illustrated by the experimental results. The effectiveness of the fractional calculus in terms of accuracy, control effort, and vibration suppression is depicted as well.

中文翻译：

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一种用于柔性连杆机械手的新型无模型自适应分数阶滑模控制器的实验实现

本文介绍了单个柔性连杆机械手的鲁棒控制方案的实验研究。关于柔性机械手的非线性动力学和与这些机器人相关的振动问题，本研究旨在提出一种新颖的分数阶控制器，即使在存在噪声和总干扰的情况下，也能有效地跟踪参考。对此，控制项采用智能比例-积分-微分（PID）（iPID）技术和滑模控制来制定。至于估计系统的未知状态，并确保时变扰动得到妥善处理并且它们不会激发振动模式，则使用了广义比例积分 (GPI) 观测器。然后，根据李雅普诺夫稳定性分析推导出自适应到达律，证明了滑动面的有限时间收敛性。最后，实验结果说明了系统的井轨迹跟踪和鲁棒性。还描述了分数阶微积分在精度、控制工作和振动抑制方面的有效性。