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Rotary Flexible Joint Control by Fractional Order Controllers

Ubaid M. Al-Saggaf, Ibrahim M. Mehedi, Rachid Mansouri*, and Maamar Bettayeb
International Journal of Control, Automation, and Systems, vol. 15, no. 6, pp.2561-2569, 2017

Abstract : "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."

Keyword : "Bode’s ideal transfer function, flexible-joint system, fractional integral control, fractional order controller, state feedback."

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