TY - JOUR
T1 - State-feedback-based fractional-order control approximation for a rotary flexible joint system
AU - Al-Sereihy, Maher H.
AU - Mehedi, Ibrahim M.
AU - Al-Saggaf, Ubaid M.
AU - Bettayeb, Maamar
N1 - Publisher Copyright:
© 2020 Acta Press. All rights reserved.
PY - 2020/6/22
Y1 - 2020/6/22
N2 - In recent years, fractional-order controllers have been used more extensively in applied research and industrial applications. In this article, a state-feedback-based fractional integral control scheme is proposed and implemented in a rotary flexible joint system. For this modified state-feedback control approach, two different approximation methods are used: CRONE (Commande Robuste d'Ordre Non Entier, meaning noninteger-order robust control), developed by A. Oustaloup, and the FOMCON (fractional-order modelling and control) MATLAB toolbox. For comparison, pure state-feedback control and the modified technique are both implemented for a simulation and an experiment involving a rotary flexible joint system. The tracking performance of the rotary arm and the degree to which the tip vibration is minimized are evaluated and compared between the pure state-feedback control scheme and the modified state-feedback-based fractional integral control scheme.
AB - In recent years, fractional-order controllers have been used more extensively in applied research and industrial applications. In this article, a state-feedback-based fractional integral control scheme is proposed and implemented in a rotary flexible joint system. For this modified state-feedback control approach, two different approximation methods are used: CRONE (Commande Robuste d'Ordre Non Entier, meaning noninteger-order robust control), developed by A. Oustaloup, and the FOMCON (fractional-order modelling and control) MATLAB toolbox. For comparison, pure state-feedback control and the modified technique are both implemented for a simulation and an experiment involving a rotary flexible joint system. The tracking performance of the rotary arm and the degree to which the tip vibration is minimized are evaluated and compared between the pure state-feedback control scheme and the modified state-feedback-based fractional integral control scheme.
KW - Fractional-order approximation
KW - Fractional-order controller
KW - Rotary flexible joint
KW - State-feedback control
UR - http://www.scopus.com/inward/record.url?scp=85092793416&partnerID=8YFLogxK
U2 - 10.2316/J.2020.201-0106
DO - 10.2316/J.2020.201-0106
M3 - Article
AN - SCOPUS:85092793416
SN - 2561-1771
VL - 48
SP - 256
EP - 263
JO - Mechatronic Systems and Control
JF - Mechatronic Systems and Control
IS - 4
ER -