Robust Combined FOMRAC/PD Adaptive Control Design for Veloce Parallel Robot Using DE Optimization and a Fractional-Order Integrator

In this study a novel PD-FOMRAC adaptive control design is proposed to deal with the Parallel robot Veloce trajectory tracking control. The proposed regulator implies an PD control action with parameters adjustment using the DE optimization technique and a fractional-order MRAC based controller. The Veloce model is detailed and numerical simulation results are performed to illustrate the efficiency of the proposed solution that guarantees an improved robust tracking precision and rapidity performance.