Fractional order inspired iterative adaptive control

Although several studies have revealed that fractional order controllers usually outperform conventional integer-order control solutions, fractional order controllers are not yet widely applied in industrial applications due to their complex mathematical background. In this paper, further improvemen...

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Bibliographic Details
Published in:Robotica 2024-02, Vol.42 (2), p.482-509
Main Authors: Varga, Bence, Tar, József K., Horváth, Richárd
Format: Article
Language:English
Subjects:
Adaptive control
Approximation
Calculus
Control methods
Control systems design
Controllers
Industrial applications
Iterative methods
Mathematical analysis
Modelling and Control of Innovative Robots (RAAD 2022)
Motion control
Parameter identification
Process controls
Robotics
Robots
Robustness (mathematics)
Transient response
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Summary:Although several studies have revealed that fractional order controllers usually outperform conventional integer-order control solutions, fractional order controllers are not yet widely applied in industrial applications due to their complex mathematical background. In this paper, further improvements of a simple weighted sum feedback design are introduced that imitates the behavior of a fractional order controller but is free from its various formal restrictions. The proposed control solution has the main characteristics of a fractional order controller, such as finite memory length, excellent transient response with no overshoot and robust behavior, but it is placed into a much simpler mathematical framework. In the current paper, a simple derivative term was incorporated in the design which made the controller’s output more stable by completely eliminating output chattering. The proposed control method was developed for a general second-order system. It was tested in a fixed point iteration-based adaptive control scenario, through simulations using a robotic example and on experimental basis as well, utilizing a simple one-degree-of-freedom electromechanical system. The presented experiments are the first systematic investigations of the fixed point iteration-based adaptive control method.
ISSN:0263-5747
1469-8668
DOI:10.1017/S0263574723001595