Fractional order model reference adaptive control for SCARA robot trajectory tracking

Yassine Bensafia, Samir Ladaci, Khatir Khettab and Ahmed Chemori

International Journal of Industrial and Systems Engineering, 2018, vol. 30, issue 2, 138-156

Abstract: This paper proposes a new control strategy to the problem of trajectory tracking of SCARA robotic manipulator system by using a fractional order model reference adaptive controller (FMRAC) for sufficiently smooth trajectories. Over the few last years the idea of introducing fractional calculus and systems in adaptive control has found a great interest, for the benefits one can win in the performances given by such systems. The main contribution of this paper, is to show that the proposed fractional adaptive controller is able to reduce the delay time and the overshoot existing in classical control approach. Simulation results illustrate the effectiveness of the proposed control approach comparatively to the classical integer order one.

Keywords: fractional adaptive control; model reference adaptive control; MRAC; SCARA robot; trajectory tracking; approximation methods. (search for similar items in EconPapers)
Date: 2018
References: Add references at CitEc
Citations:

Downloads: (external link)
http://www.inderscience.com/link.php?id=94839 (text/html)
Access to full text is restricted to subscribers.

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:ids:ijisen:v:30:y:2018:i:2:p:138-156

Access Statistics for this article

More articles in International Journal of Industrial and Systems Engineering from Inderscience Enterprises Ltd
Bibliographic data for series maintained by Sarah Parker ().