scholarly journals Fractional order model reference adaptive control for SCARA robot trajectory tracking

2018 ◽  
Vol 30 (2) ◽  
pp. 138 ◽  
Author(s):  
Yassine Bensafia ◽  
Samir Ladaci ◽  
Khatir Khettab ◽  
Ahmed Chemori
Keyword(s):  
Adaptive Control ◽  
Fractional Order ◽  
Trajectory Tracking ◽  
Model Reference Adaptive Control ◽  
Order Model ◽  
Model Reference ◽  
Scara Robot ◽  
Robot Trajectory ◽  
Fractional Order Model ◽  
Model Reference Adaptive

Switched Fractional Order Model Reference Adaptive Control for First Order Plants: a Simulation-Based Study

2021 ◽  
Author(s):  
Norelys Aguila Camacho ◽  
JorgeE García Bustos ◽  
EduardoI Castillo López ◽  
Javier A. Gallego ◽  
JuanC TraviesoTorres
Keyword(s):  
Adaptive Control ◽  
Fractional Order ◽  
Reference Model ◽  
Model Reference Adaptive Control ◽  
System Behavior ◽  
Order Model ◽  
Model Reference ◽  
First Order ◽  
Fractional Order Model ◽  
Model Reference Adaptive

Abstract This paper presents the results and analysis of an exhaustive simulation study where Switched Fractional Order Model Reference Adaptive Control (SFOMRAC) is used for first order plants, along with the analytical proof of boundedness and convergence of the scheme. The analysis is focused on the controlled system behavior through the integral of the timed squared control error (ITSE) and on the control energy though the integral of the squared control signal (ISI). Controller parameters such as fractional order, adaptive gain and switching time are varied along the simulation studies, as well as plant parameters and reference models. The results show that SFOMRAC controllers can be found for every plant and reference model used, such that both system behavior and control energy can be improved, compared to equivalent non switched fractional order and integer order control strategies.

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