Complex Fractional-Order LQIR for Inverted-Pendulum-Type Robotic Mechanisms: Design and Experimental Validation

This article presents a systematic approach to formulate and experimentally validate novel Complex Fractional Order (CFO) Linear Quadratic Integral Regulator (LQIR) design enhance the robustness of inverted-pendulum-type robotic mechanisms against bounded exogenous disturbances. The CFO controllers, an enhanced variant conventional fractional-order are realised by assigning pre-calibrated complex numbers order integral differential operators in control law. arrangement significantly improves structural flexibility law, hence, subsequently strengthens its parametric uncertainties nonlinear disturbances encountered aforementioned under-actuated system. proposed procedure uses ubiquitous LQIR as baseline controller that is augmented with operators. fractional orders calibrated offline minimising objective function aims at attenuating position-regulation error while economising activity. effectiveness CFO-LQIR benchmarked integer counterparts. ability each mitigate systems rigorously tested conducting real-time experiments on Quanser single-link rotary pendulum experimental outcomes superior disturbance rejection capability yielding rapid transits strong damping preserving input economy closed-loop stability