Extrapolated state estimation in fixed point transformation-based adaptive control using fractional order feedback

Redjimi, Hemza; Tar, József K.

doi:10.1109/sami.2018.8324850

Cited by 5 publications

(2 citation statements)

References 22 publications

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“…In both refs. [41] and [42], it was shown that this type of fractional feedback can yield better transient response than conventional PID control solution. If and parameters are set correctly, the initial overshoot of the system can be reduced or sometimes completely evaded.…”

Section: Fractional Order Computed Torque Controlmentioning

confidence: 99%

“…To tackle this problem, a simple solution was introduced in refs. [41,42], in which the numerical issues were avoided by applying an integer order integral of the fractionally derivated term. The idea is that consider the derivative term in (5) as the integral of the second derivative (ė(t) = ė(t 0 ) + t t 0 ë(ξ )dξ ), in which the derivative can be replaced with a fractional order α ∈ [0, 1] derivative as ė(t) = t t 0 𝒟 α t 0 ė(ξ ) dξ .…”

Section: Fractional Order Computed Torque Controlmentioning

confidence: 99%

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Fractional order inspired iterative adaptive control

Varga,

Tar,

Horváth

2023

Robotica

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Although several studies have revealed that fractional order controllers usually outperform conventional integer-order control solutions, fractional order controllers are not yet widely applied in industrial applications due to their complex mathematical background. In this paper, further improvements of a simple weighted sum feedback design are introduced that imitates the behavior of a fractional order controller but is free from its various formal restrictions. The proposed control solution has the main characteristics of a fractional order controller, such as finite memory length, excellent transient response with no overshoot and robust behavior, but it is placed into a much simpler mathematical framework. In the current paper, a simple derivative term was incorporated in the design which made the controller’s output more stable by completely eliminating output chattering. The proposed control method was developed for a general second-order system. It was tested in a fixed point iteration-based adaptive control scenario, through simulations using a robotic example and on experimental basis as well, utilizing a simple one-degree-of-freedom electromechanical system. The presented experiments are the first systematic investigations of the fixed point iteration-based adaptive control method.

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Section: Fractional Order Computed Torque Controlmentioning

confidence: 99%