학술논문
Rotary Flexible Joint Control by Fractional Order Controllers
Document Type
Article
Source
(2022): 2561-2569.
Subject
Language
Korean
ISSN
15986446
Abstract
In this paper, a fractional order control law is proposed and implemented for the evaluation of trajectorytracking performance of a rotary flexible-joint system. A state feedback based fractional integral control schemeis used in this proposed method. In this scheme, state feedback is responsible for stabilizing the system. Thecompensator, in series with the fractional integrator leads to obtain a similar closed-loop transient response likeBode’s ideal transfer function. The effectiveness of the proposed controller in tracking and being robust againstparameter uncertainties is demonstrated through simulation. In addition, to show the usefulness of the proposedcontrol scheme, the fractional controller is compared to an integer state feedback control by simulation and throughexperimentation on the Quanser’s rotary flexible-joint system.
In this paper, a fractional order control law is proposed and implemented for the evaluation of trajectorytracking performance of a rotary flexible-joint system. A state feedback based fractional integral control schemeis used in this proposed method. In this scheme, state feedback is responsible for stabilizing the system. Thecompensator, in series with the fractional integrator leads to obtain a similar closed-loop transient response likeBode’s ideal transfer function. The effectiveness of the proposed controller in tracking and being robust againstparameter uncertainties is demonstrated through simulation. In addition, to show the usefulness of the proposedcontrol scheme, the fractional controller is compared to an integer state feedback control by simulation and throughexperimentation on the Quanser’s rotary flexible-joint system.
In this paper, a fractional order control law is proposed and implemented for the evaluation of trajectorytracking performance of a rotary flexible-joint system. A state feedback based fractional integral control schemeis used in this proposed method. In this scheme, state feedback is responsible for stabilizing the system. Thecompensator, in series with the fractional integrator leads to obtain a similar closed-loop transient response likeBode’s ideal transfer function. The effectiveness of the proposed controller in tracking and being robust againstparameter uncertainties is demonstrated through simulation. In addition, to show the usefulness of the proposedcontrol scheme, the fractional controller is compared to an integer state feedback control by simulation and throughexperimentation on the Quanser’s rotary flexible-joint system.