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