TY - JOUR
T1 - Rotary flexible joint control by fractional order controllers
AU - Al-Saggaf, Ubaid M.
AU - Mehedi, Ibrahim M.
AU - Mansouri, Rachid
AU - Bettayeb, Maamar
N1 - Publisher Copyright:
© 2017, Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany.
PY - 2017/12/1
Y1 - 2017/12/1
N2 - 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.
AB - 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.
KW - Bode’s ideal transfer function
KW - flexible-joint system
KW - fractional integral control
KW - fractional order controller
KW - state feedback
UR - http://www.scopus.com/inward/record.url?scp=85042439729&partnerID=8YFLogxK
U2 - 10.1007/s12555-016-0008-8
DO - 10.1007/s12555-016-0008-8
M3 - Article
AN - SCOPUS:85042439729
SN - 1598-6446
VL - 15
SP - 2561
EP - 2569
JO - International Journal of Control, Automation and Systems
JF - International Journal of Control, Automation and Systems
IS - 6
ER -