Decentralized CRONE control of nonsquare multivariable systems in path-tracking design

2013 ◽  
Vol 76 (1) ◽  
pp. 447-457 ◽  
Author(s):  
Najah Yousfi ◽  
Pierre Melchior ◽  
Patrick Lanusse ◽  
Nabil Derbel ◽  
Alain Oustaloup
Keyword(s):  
Path Tracking ◽  
Multivariable Systems ◽  
Crone Control

Path Tracking Design by Fractional Prefilter Extension to Square MIMO Systems

2009 ◽  
Author(s):  
P. Melchior ◽  
C. Inarn ◽  
A. Oustaloup
Keyword(s):  
Mimo Systems ◽  
Path Tracking ◽  
Multivariable Systems ◽  
Frequency Bandwidth ◽  
Control Loop ◽  
Physical Constraints ◽  
Performance Specifications ◽  
Fractional Derivation ◽  
Synthesis Methodology ◽  
Robust Synthesis

The aim of this paper concerns motion control and robust path tracking. An approach based on fractional prefilter synthesis was already developed. It allows tracking optimization according to the fractional derivation order, the actuators physical constraints and the control loop frequency bandwidth. The purpose of this paper is the extension of this approach to multivariable systems. A non integer prefilter synthesis methodology for square MIMO systems (Multi-Input, Multi-Output) is presented. It is based on the MIMO-QFT robust synthesis methodology, taking into account of the plant uncertainties. MIMO-QFT robust synthesis methodology is based on multiple SISO (MISO systems) synthesis by considering the loop couplings. The SISO-QFT synthesis methodology can be then used for each SISO synthesis. Then the prefilters are synthesized. The prefilter parameter optimization is founded on the prefilter output error integral minimization, taking into account of the actuators physical constraints and the tracking performance specifications. An application example is given.

scholarly journals Path tracking with flatness and CRONE control for Fractional Systems: thermal application

2011 ◽  
Vol 44 (1) ◽  
pp. 10818-10823 ◽  
Author(s):  
Stéphane Victor ◽  
Pierre Melchior ◽  
Rachid Malti ◽  
Alain Oustaloup
Keyword(s):  
Path Tracking ◽  
Fractional Systems ◽  
Crone Control

Robust path tracking by preshaping approach designed for third generation CRONE control

2012 ◽  
Vol 15 (2) ◽  
pp. 125 ◽  
Author(s):  
Rim Jallouli Khlif ◽  
Pierre Melchior ◽  
Nabil Derbel ◽  
Alain Oustaloup
Keyword(s):  
Path Tracking ◽  
Third Generation ◽  
Crone Control

Flatness Control: Application to a Fractional Thermal System

2005 ◽  
Author(s):  
Pierre Melchior ◽  
Mikae¨l Cugnet ◽  
Jocelyn Sabatier ◽  
Alain Oustaloup
Keyword(s):  
Control Strategy ◽  
Path Tracking ◽  
Dynamic Inversion ◽  
Thermal System ◽  
Differential Systems ◽  
Fractional Systems ◽  
Crone Control ◽  
Flatness Control ◽  
Fractional System ◽  
Control Application

This paper concerns the application of flatness principle to fractional systems. As soon as the path has been obtained by flatness, a new robust path tracking based on CRONE control is presented. The flatness concept in path planning is used when the trajectory is fixed (in space and in time), to determine the controls to apply without having to integrate any differential equations. A lot of developments have been made but, in the case of non integer differential systems (or fractional systems), few developments are still to be made. So, the aim of this paper is to apply flatness principle to a fractional system and to define a robust path tracking by CRONE control strategy. Firstly, we remind flatness principle definitions used in control’s theory. We study the fractional systems dynamic inversion. A robust path tracking based on CRONE control is presented. Finally, simulations with two different controllers (PID and CRONE) illustrate the path tracking robustness.

Path tracking design based on Davidson–Cole prefilter using a centralized CRONE controller applied to multivariable systems

2012 ◽  
Vol 71 (4) ◽  
pp. 701-712 ◽  
Author(s):  
Najah Yousfi ◽  
Pierre Melchior ◽  
Chokri Rekik ◽  
Nabil Derbel ◽  
Alain Oustaloup
Keyword(s):  
Path Tracking ◽  
Multivariable Systems

Path Tracking Controller Design of Automatic Guided Vehicle Based on Four-Wheeled Omnidirectional Motion Model

2020 ◽  
Vol 17 (2) ◽  
pp. 7996-8010
Author(s):  
X. Wu ◽  
Y. Yang
Keyword(s):  
Control System ◽  
Fuzzy Controller ◽  
Controller Design ◽  
Threshold Value ◽  
Position Angle ◽  
Path Tracking ◽  
Global Coordinate System ◽  
Automatic Guided Vehicle ◽  
Input Variables ◽  
Industrial Pc

This paper presents a new design of omnidirectional automatic guided vehicle based on a hub motor, and proposes a joint controller for path tracking. The proposed controller includes two parts: a fuzzy controller and a multi-step predictive optimal controller. Firstly, based on various steering conditions, the kinematics model of the whole vehicle and the pose (position, angle) model in the global coordinate system are introduced. Secondly, based on the modeling, the joint controller is designed. Lateral deviation and course deviation are used as the input variables of the control system, and the threshold value is switched according to the value of the input variable to realise the correction of the large range of posture deviation. Finally, the joint controller is implemented by using the industrial PC and the self-developed control system based on the Freescale minimum system. Path tracking experiments were made under the straight and circular paths to test the ability of the joint controller for reducing the pose deviation. The experimental results show that the designed guided vehicle has excellent ability to path tracking, which meets the design goals.

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