Path tracking design by frequency band limited fractional differentiator prefilter: Square MIMO systems

2014 ◽  
Author(s):  
Najah Yousfi-Allagui ◽  
Rim Jallouli Khlif ◽  
Pierre Melchior ◽  
Patrick Lanusse ◽  
Nabil Derbel ◽  
...  
Keyword(s):  
Frequency Band ◽  
Mimo Systems ◽  
Path Tracking ◽  
Band Limited ◽  
Fractional Differentiator

FREQUENCY BAND-LIMITED FRACTIONAL DIFFERENTIATOR IN PATH TRACKING DESIGN

2006 ◽  
Vol 39 (11) ◽  
pp. 468-474
Author(s):  
Alexandre Poty ◽  
Pierre Melchior ◽  
Alain Oustaloup
Keyword(s):  
Frequency Band ◽  
Path Tracking ◽  
Band Limited ◽  
Fractional Differentiator

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.

Sign in / Sign up

Export Citation Format

Share Document