As one of the most promising topics in complex control processes, data-driven techniques have been widely used in numerous industrial sectors and have developed over the past two decades. In addition, the fractional-order controller has become more attractive in applied studies. In this article, a fractional integral control is implemented for a rotary flexible joint system. Moreover, an adjusted virtual reference feedback tuning (VRFT) technique is used to tune the fractional-order integrator. In this method, fractional integral control is designed based on state feedback control. Then, VRFT is adjusted and applied to the fractional integral controller. The effectiveness of the proposed adjusted VRFT method is discussed and presented through simulation and experimental results. The tracking performance of the rotary arm and the minimization of the vibration tip is evaluated based on the proposed method. In this article, the comparison of our proposed VRFT fractional scheme is made with the classical state feedback as well as a recently developed state feedback-based fractional order integral (SF-FOI) controller. The current investigations determine the performance improvement of our proposed scheme of comparable structure to the recent SF-FOI, with the introduction of the VRFT to the SF-FOI scheme.

作为复杂控制过程中最有前途的主题之一，数据驱动技术已在许多工业领域得到广泛使用，并且在过去的二十年中得到了发展。另外，分数阶控制器在应用研究中变得越来越有吸引力。在本文中，对旋转挠性接头系统实施了分数积分控制。此外，已调整的虚拟参考反馈调整（VRFT）技术用于调整分数阶积分器。该方法基于状态反馈控制设计分数积分控制。然后，调整VRFT并将其应用于分数积分控制器。通过仿真和实验结果讨论并提出了所提出的调整后的VRFT方法的有效性。基于所提出的方法，对旋转臂的跟踪性能和振动尖端的最小化进行了评估。在本文中，我们将建议的VRFT分数方案与经典状态反馈以及最近开发的基于状态反馈的分数阶积分（SF-FOI）控制器进行了比较。当前的研究确定了将拟议的结构与最新的SF-FOI相比的拟议方案的性能改进，并将VRFT引入SF-FOI方案。