Article: Fractional order adaptive MRAC controller design for high-accuracy position control of an industrial robot arm Journal: International Journal of Advanced Mechatronic Systems (IJAMECHS) 2023 Vol.10 No.1 pp.8 - 20 Abstract: Most of conventional feedback controllers become inefficient in hard industrial environments like in steel industry, because of uncertainties in the plant model, or process dynamics variation due to nonlinear actuators, and changes in the character of the disturbances. This paper proposes an adaptive control design based on fractional order model reference adaptive control (FOMRAC) strategy in order to deal with an uncertain horizontal positioning control of an unloading machine in a rotary hearth furnace for hot rolling operation. The proposed FOMRAC scheme uses the MIT rule as an adaptive mechanism with two main modifications comparatively to the conventional MRAC: the reference model is an adequate fractional order system and the parameter adjustment rule contains a fractional order integrator. Stability analysis of the proposed control scheme is performed using the Lyapunov stability theorem. Numerical simulations are presented to show the effectiveness of the proposed fractional adaptive schemes applied to an industrial robot arm loading round steel blocks from inside a rotary hearth furnace. After comparison with the conventional MRAC, it is shown that the performances of FOMRAC are superior to classical control schemes. Inderscience Publishers - linking academia, business and industry through research

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Title: Fractional order adaptive MRAC controller design for high-accuracy position control of an industrial robot arm

Authors: Tounes Seghiri; Samir Ladaci; Salim Haddad

Addresses: Department of Mechanical Engineering, University of 20th August 1955, Skikda 21000, Algeria ' National Polytechnic School of Algiers, Elharrach, Algiers 16200, Algeria; Laboratory of Signal Processing, UMC1 Constantine, Algeria ' Department of Mechanical Engineering, University of 20th August 1955, Skikda 21000, Algeria

Abstract: Most of conventional feedback controllers become inefficient in hard industrial environments like in steel industry, because of uncertainties in the plant model, or process dynamics variation due to nonlinear actuators, and changes in the character of the disturbances. This paper proposes an adaptive control design based on fractional order model reference adaptive control (FOMRAC) strategy in order to deal with an uncertain horizontal positioning control of an unloading machine in a rotary hearth furnace for hot rolling operation. The proposed FOMRAC scheme uses the MIT rule as an adaptive mechanism with two main modifications comparatively to the conventional MRAC: the reference model is an adequate fractional order system and the parameter adjustment rule contains a fractional order integrator. Stability analysis of the proposed control scheme is performed using the Lyapunov stability theorem. Numerical simulations are presented to show the effectiveness of the proposed fractional adaptive schemes applied to an industrial robot arm loading round steel blocks from inside a rotary hearth furnace. After comparison with the conventional MRAC, it is shown that the performances of FOMRAC are superior to classical control schemes.

Keywords: fractional order control; adaptive control; FOMRAC; industrial robot; high-accuracy position control; unloading machine.

DOI: 10.1504/IJAMECHS.2023.128155

International Journal of Advanced Mechatronic Systems, 2023 Vol.10 No.1, pp.8 - 20

Received: 01 Jan 2022
Accepted: 19 Apr 2022
Published online: 09 Jan 2023 *

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Title: Fractional order adaptive MRAC controller design for high-accuracy position control of an industrial robot arm

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