Fractional-order PD control of a parallel Delta robot: Experimental results
Abstract
In this paper, a fractional-order proportional derivative (PD) controller is proposed to improve the trajectory tracking of a parallel Delta robot. The highly coupled dynamics of the Delta robot present challenges for the current PD/PID controllers, resulting in limited tracking performance. To overcome the aforementioned limitation, this work increases the flexibility of the PD controller by introducing a fractional-order derivative operator. Experiments are carried out on the Delta robot to prove the effectiveness of the outlined paper approach.
Fields of Study & Subjects
Robotic Mechanisms and Dynamics
Advanced Control Systems Design
Control Systems in Engineering
Publication details
- Journal / source
- ENP Engineering Science Journal
- Volume
- 5
- Issue
- 2
- Pages
- 7–11
- Publication date
- 11 January 2026
- Language
- EN