Skip to main content
SpringerLink
Log in
Book cover

New Developments and Advances in Robot Control pp 187–200Cite as

Crone Controller Design for a Robot Arm

  • Chapter
  • First Online:

Part of the book series: Studies in Systems, Decision and Control ((SSDC,volume 175))

Abstract

The CRONE strategy (French acronym of Commande Robuste d’Ordre Non Entier) is assumed to give rise to a great number of applications in different industrial fields. This paper introduces the design of a second generation controller intended to control in position a two degrees of freedom robot arm. Great performances and robust behaviour are obtained and validated especially by a comparative study.

This is a preview of subscription content, log in via an institution.

Chapter
USD   29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD   84.99
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Hardcover Book
USD   109.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Learn about institutional subscriptions

References

  • Abid, A., Jallouli-Khlif, R., Melchior, P., & Derbel, N. (2015). Negative input shapers for explicit fractional derivative systems. In IEEE International Conference on Modelling, Identification and Control, Sousse.

    Google Scholar 

  • Delavari, H., Lanusse, P., & Sabatier, J. (2013). Fractional order controller design for a flexible link manipulator robot. Asian Journal of Control, 15(3), 783–795.

    Article  MathSciNet  MATH  Google Scholar 

  • Jallouli-Khlif, R., Melchior, P., Levron, F., Derbel, N., & Oustaloup, A. (2010). Analytical impulse response of third generation crone control. In D. Baleanu, Z. B. Guvenc, & J. A. Tenreiro Machado (Eds.), New trends in nanotechnology and fractional calculus applications (Fractional Control Systems, pp. 343–356). Dordrecht: Springer.

    Chapter  MATH  Google Scholar 

  • Lanusse, P., Malti, R., & Melchior, P. (2013). Crone control-system design toolbox for the control engineering community. Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences, 371, 20120149.

    Article  MATH  Google Scholar 

  • Machado, J. A. T. (1997). Analysis and design of fractional-order digital control systems. Journal of Systems Analysis, Modelling, Simulation, 27, 107–122.

    MATH  Google Scholar 

  • Manabe, S. (1961). The non integer integral and its application to control systems. Electrotechnical Journal of Japan, 6(3–4), 83–87.

    Google Scholar 

  • Maximo, M., Ribeiro, C., & Afonso, R. (2017). Modeling of a position servo used in robotics applications. XIII Simposoi Brasileiro de Automaçao Intelligente.

    Google Scholar 

  • Moreau, X., Daou, R., & Christophy, F. (2018). Comparison between the second and third generations of the crone controller: Application to a thermal diffusive interface medium. Fractal and fractional, 2(1), 5.

    Article  Google Scholar 

  • Nouillant, C., Assadian, F., Moreau, X., & Oustaloup, A. (2002). Feedforward and crone feedback control strategies for automobile ABS. International Journal of Vehicle Mechanics and Mobility, 38(4), 293–315.

    Google Scholar 

  • Oustaloup, A. (1991a). La commande CRONE. Paris: Hermes Editions.

    MATH  Google Scholar 

  • Oustaloup, A. (1991b). The CRONE control. European Control Conference ECC’91, Grenoble.

    Google Scholar 

  • Oustaloup, A., & Mathieu, B. (1999). La commande CRONE: du scalaire au multivariable. Paris: Hermes Editions.

    MATH  Google Scholar 

  • Oustaloup, A., Moreauand, X., & Nouillant, M. (1996). The crone suspension. Control Engineering Practice, Journal of the International Federation of Automatic Control, 4(8), 1101–1108.

    Google Scholar 

  • Oustaloup, A., Lanusse, P., Sabatier, J., & Melchior, P. (2013). Crone control: Principles, extensions and applications. Journal of Applied Nonlinear Dynamics (JAND), 2(3), 207–223.

    Article  Google Scholar 

  • Petras, I., & Dorcak, L. (1999). The frequency method for stability investigation of fractional control systems. Stability and Control: Theory and Applications, 2(1–2), 75–85. www.cer.co.za/sacta/.

    MathSciNet  Google Scholar 

  • Podlubny, I. (1999). Fractional-order systems and pid-controller. IEEE Transactions on Automatic Control, 44(1), 208–214.

    Article  MathSciNet  MATH  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Control and Energy Management Lab (CEM-Lab LR11ES47), National Engineering School of Sfax, Sfax, Tunisia

    Ahmed Abid, Rim Jallouli–Khlif & Nabil Derbel

  2. Integration from Materials to Systems Lab (IMS-UMR 5218 CNRS), Bordeaux INP, University of Bordeaux, Bordeaux, France

    Pierre Melchior

Authors
  1. Ahmed Abid
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Rim Jallouli–Khlif
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Nabil Derbel
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Pierre Melchior
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. Sfax Engineering School, University of Sfax, Sfax, Tunisia

    Nabil Derbel

  2. Department of Electrical and Computer Engineering College of Engineering, Sultan Quaboos University, Muscat, Oman

    Jawhar Ghommam

  3. University of the West of England, Bristol, UK

    Quanmin Zhu

Rights and permissions

Reprints and permissions

Copyright information

© 2019 Springer Nature Singapore Pte Ltd.

About this chapter

Check for updates. Verify currency and authenticity via CrossMark

Cite this chapter

Abid, A., Jallouli–Khlif, R., Derbel, N., Melchior, P. (2019). Crone Controller Design for a Robot Arm. In: Derbel, N., Ghommam, J., Zhu, Q. (eds) New Developments and Advances in Robot Control. Studies in Systems, Decision and Control, vol 175. Springer, Singapore. https://doi.org/10.1007/978-981-13-2212-9_8

Download citation

Publish with us

Policies and ethics

Search

Navigation