STATE-FEEDBACK-BASED FRACTIONAL-ORDER CONTROL APPROXIMATION FOR A ROTARY FLEXIBLE JOINT SYSTEM

Maher H. Al-Sereihy∗ , Ibrahim M. Mehedi∗,∗∗ , Ubaid M. Al-Saggaf ∗,∗∗ , and Maamar Bettayeb∗∗,∗∗∗

Keywords

State-feedback control, fractional-order controller, fractional-orderapproximation, rotary flexible joint

Abstract

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 approx- imation 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 sys- tem. 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.

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