Rotary flexible joint control by fractional order controllers

In this paper, a fractional order control law is proposed and implemented for the evaluation of trajectory tracking performance of a rotary flexible-joint system. A state feedback based fractional integral control scheme is used in this proposed method. In this scheme, state feedback is responsible...

Full description

Saved in:
Bibliographic Details
Published in:International journal of control, automation, and systems 2017, Automation, and Systems, 15(6), , pp.2561-2569
Main Authors: Al-Saggaf, Ubaid M., Mehedi, Ibrahim M., Mansouri, Rachid, Bettayeb, Maamar
Format: Article
Language:English
Subjects:
Control
Control systems
Control theory
Engineering
Experimentation
Feedback control
Mechatronics
Parameter robustness
Parameter uncertainty
Regular Papers
Robotics
State feedback
Tracking control
Trajectory analysis
Transfer functions
제어계측공학
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:In this paper, a fractional order control law is proposed and implemented for the evaluation of trajectory tracking performance of a rotary flexible-joint system. A state feedback based fractional integral control scheme is used in this proposed method. In this scheme, state feedback is responsible for stabilizing the system. The compensator, in series with the fractional integrator leads to obtain a similar closed-loop transient response like Bode’s ideal transfer function. The effectiveness of the proposed controller in tracking and being robust against parameter uncertainties is demonstrated through simulation. In addition, to show the usefulness of the proposed control scheme, the fractional controller is compared to an integer state feedback control by simulation and through experimentation on the Quanser’s rotary flexible-joint system.
ISSN:1598-6446
2005-4092
DOI:10.1007/s12555-016-0008-8