Fractional data-driven control for a rotary flexible joint system

International Journal of Advanced Robotic Systems

article

Maher H AlSereihy¹  Ibrahim M Mehedi¹  Ubaid M Al-saggaf¹  Khalid Munawar¹  Rachid Mansouri³  Maamar Bettayeb² 

[1] Electrical and Computer Engineering Department, King Abdulaziz University;Center of Excellence in Intelligent Engineering Systems, King Abdulaziz University;L2CSP Laboratory, Mouloud Mammeri University;Electrical Engineering Department, College of Engineering, University of Sharjah, United Arab Emirates

关键词: Data-driven control;    virtual reference feedback tuning;    fractional order controller;    rotary flexible joint;    state feedback control;   

DOI  :  10.1177/1729881421998580

学科分类：社会科学、人文和艺术（综合）

来源: InTech

【 摘 要 】

As one of the most promising topics in complex control processes, data-driven techniques have been widely used in numerous industrial sectors and have developed over the past two decades. In addition, the fractional-order controller has become more attractive in applied studies. In this article, a fractional integral control is implemented for a rotary flexible joint system. Moreover, an adjusted virtual reference feedback tuning (VRFT) technique is used to tune the fractional-order integrator. In this method, fractional integral control is designed based on state feedback control. Then, VRFT is adjusted and applied to the fractional integral controller. The effectiveness of the proposed adjusted VRFT method is discussed and presented through simulation and experimental results. The tracking performance of the rotary arm and the minimization of the vibration tip is evaluated based on the proposed method. In this article, the comparison of our proposed VRFT fractional scheme is made with the classical state feedback as well as a recently developed state feedback-based fractional order integral (SF-FOI) controller. The current investigations determine the performance improvement of our proposed scheme of comparable structure to the recent SF-FOI, with the introduction of the VRFT to the SF-FOI scheme.

【 授权许可】

CC BY