This paper presents a novel robust fractional PIλ controller design for flexible joint electrically driven robots. Because of using voltage control strategy, the proposed approach is free of problems arising from torque control strategy in the design and implementation. In fact, the motor's current includes the effects of nonlinearities and coupling in the robot manipulator. Therefore, cancella...

This paper presents a novel robust fractional PIλ controller design for flexible joint electrically driven robots. Because of using voltage control strategy, the proposed approach is free of problems arising from torque control strategy in the design and implementation. In fact, the motor's current includes the effects of nonlinearities and coupling in the robot manipulator. Therefore, cancella...

In this study, we propose a secure communication scheme based on the synchronization of two identical fractional-order chaotic systems. The fractional-order derivative is in Caputo sense, and for synchronization, we use a robust sliding-mode control scheme. The designed sliding surface is taken simply due to using special technic for fractional-order systems. Also, unlike most manuscripts, the ...

This paper presents a new approach to robust adaptive control, using fractional order systems as parallel feedforward in the adaptation loop. The problem is that adaptive control systems may diverge when confronted with finite sensor and actuator dynamics, or with parasitic disturbances. One of the classical robust adaptive control solutions to these problems makes use of parallel feedforward a...

This paper presents a numerical solution of a class of fractional optimal control problems (FOCPs) in a bounded domain having a noise function by the spectral Ritz method‎. ‎The Bernstein polynomials with the fractional operational matrix are applied to approximate the unknown functions‎. ‎By substituting these estimated functions into the cost functional‎, ‎an unconstrained nonlinear optimizat...

In this paper, based on a fractional order Bergman minimal model, a robust strategy for regulationof blood glucose in type 1 diabetic patients is presented. Glucose/insulin concentration in the patientbody is controlled through the injection under the patients skin by the pump. Many various con-trollers for this system have been proposed in the literature. However, most of the...