Title: Fractional order model reference adaptive control for SCARA robot trajectory tracking

Authors: Yassine Bensafia; Samir Ladaci; Khatir Khettab; Ahmed Chemori

Addresses: Electrical Engineering Department, Bouira University, Bouira, 10000, Algeria ' Department of EEA, National Polytechnic School of Constantine, Ali Mendjli, Constantine 25000, Algeria; Department of Electronics, SP-Lab Laboratory, University of Constantine 1, Constantine 25000, Algeria ' Department of Electrical Engineering, University of M'sila, M'sila 28000, Algeria ' LIRMM – CNRS/Univ. Montpellier 2. 161, rue Ada 34095 Montpellier, France

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.

DOI: 10.1504/IJISE.2018.094839

International Journal of Industrial and Systems Engineering, 2018 Vol.30 No.2, pp.138 - 156

Received: 21 Apr 2016
Accepted: 29 Sep 2016

Published online: 25 Sep 2018 *

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