Finite-Time Control of a Parallelogram Five-Bar Manipulator Based on Fractional-Order Approach

Finite-time controlling of a five-bar linkage arm is investigated in this paper. The manipulator has a parallelogram structure which is not stable and has a nonlinear equation of motion. Besides, external perturbations, as well as modeling uncertainties, can disturb the system response. A PSO-optimized (particle swarm optimization) finite-time control approach is presented for the manipulator utilizing fractional calculus framework to realize an acceptable performance. Designing a controller based on fractional Lyapunov theories, the plan stability is ascertained. A variety of simulations are conducted to expose the capability of suggested strategy to control the manipulator efficaciously.