Two cooperating manipulators with fractional controllers

N. M.Fonseca Ferreira, J. A.Tenreiro Machado, József K. Tar

Research output: Contribution to journalArticle

2 Citations (Scopus)


This paper analyzes the dynamic performance of two cooperative robot manipulators. It is studied the implementation of fractional-order algorithms in the position/force control of two cooperating robotic manipulators holding an object. The simulations reveal that fractional algorithms lead to performances superior to classical integer-order controllers.

Original languageEnglish
Pages (from-to)343-347
Number of pages5
JournalInternational Journal of Advanced Robotic Systems
Issue number4
Publication statusPublished - Dec 1 2009

ASJC Scopus subject areas

  • Software
  • Computer Science Applications
  • Artificial Intelligence

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