Suboptimal State Tracking Control Applied to a Nonlinear Fractional-Order Slewing Motion Flexible Structure

• Autor(a) principal: Bueno, Atila M. [UNESP]
• Data de Publicação: 2022
• Outros Autores: Daltin, Daniel C. [UNESP], Serni, Paulo J. A. [UNESP], Balthazar, Jose M. [UNESP], Tusset, Angelo M.
• Tipo de documento: Artigo
• Idioma: eng
• Título da fonte: Repositório Institucional da UNESP
• Texto Completo: http://dx.doi.org/10.1115/1.4054570; http://hdl.handle.net/11449/237800

The control of slewing motion flexible structures is important to a number of systems found in engineering and physical sciences applications, such as aerospace, automotive, robotics, and atomic force microscopy. In this kind of system, the controller must provide a stable and well-damped behavior for the flexible structure vibrations, with admissible control signal amplitudes. Recently, many works have used fractional-order derivatives to model complex and nonlinear dynamical behavior present in the mentioned systems. In order to perform digital computer-based control of fractional-order dynamical systems, a time discretization of the equations is necessary. In many cases, the Grunwald-Letnikov method is used, resulting in an implicit integration method. In this work, a nonlinear slewing motion flexible structure is modeled considering a fractional-order viscous damping in the flexible beam motion. To obtain an explicit integration method, based on the Grunwald-Letnikov definition, the discretization of the dynamical equations is performed considering the existence of sample and hold circuits. In addition, real-time suboptimal infinite horizon tracking control system strategies, namely, the linear quadratic tracking and the state-dependent Riccati equation tracking controller, are designed and implemented to control the fractional-order slewing motion flexible system. The general behavior and performance of the control systems are tested for parameter uncertainties related to the order of the fractional derivatives.