scholarly journals Robust Motion Control Using Combined Centralized Non-Integer Pre-Filter of Type FBLFD and Fractional Order Pdμ Controller

2019 ◽  
Vol 9 (2) ◽  
pp. 3463-3473
Keyword(s):  
Motion Control ◽  
Fractional Order ◽  
Parameters Optimization ◽  
Multi Objective Optimization ◽  
Robust Controller ◽  
Robust Motion Control ◽  
Band Limited ◽  
Proportional Derivative Controller ◽  
Fractional Controller ◽  
Fractional Differentiator

Designing and automation of a robust controller and pre-filter for multi-variable processes are a very challenging task. In this study, an automated and simple conception of multivariable QFT (QFT: Quantitative Feedback Theory) is proposed using fractional order controllers design. Contrary to the traditional manual QFT design, our methodology consists of obtaining all required performances in QFT without going to the QFT loop shaping process.A non-integer order proportional derivative controller PDµ is conceived for a robust control of MIMO (Multi Input Multi Out- put) systems through multi-objective optimization based genetic algorithm . In the designed approach an implicit fractional order pre-filter FBLFD (FBLFD : Frequency Band Limited Fractional Differentiator) is adopted and its parameters are optimized. A diagonal version of this fractional order pre-filter and a non diagonal one are proposed. The problem of loop interactions is eliminated by the non diagonal designed pre-filter. Consequently, the procedure of fractional controller and pre-filter parameters optimization is illustrated. A comparative study and the efficiency of the developed methodologies are considered through SCARA robot.

Robust Hybrid Fractional Order Proportional Derivative Sliding Mode Controller for Robot Manipulator Based on Extended Grey Wolf Optimizer

Robotica ◽  
2019 ◽  
Vol 38 (4) ◽  
pp. 605-616 ◽  
Author(s):  
Hossein Komijani ◽  
Mojtaba Masoumnezhad ◽  
Morteza Mohammadi Zanjireh ◽  
Mahdi Mir
Keyword(s):  
Fractional Order ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Lyapunov Theory ◽  
Grey Wolf Optimizer ◽  
Sliding Mode Controller ◽  
Grey Wolf ◽  
Robust Controller ◽  
The Stability ◽  
Proportional Derivative Controller

SUMMARYThis paper presents a novel robust hybrid fractional order proportional derivative sliding mode controller (HFOPDSMC) for 2-degree of freedom (2-DOF) robot manipulator based on extended grey wolf optimizer (EGWO). Sliding mode controller (SMC) is remarkably robust against the uncertainties and external disturbances and shows the valuable properties of accuracy. In this paper, a new fractional order sliding surface (FOSS) is defined. Integrating the fractional order proportional derivative controller (FOPDC) and a new sliding mode controller (FOSMC), a novel robust controller based on HFOPDSMC is proposed. The bounded model uncertainties are considered in the dynamics of the robot, and then the robustness of the controller is verified. The Lyapunov theory is utilized in order to show the stability of the proposed controller. In this paper, the EGWO is developed by adding the emphasis coefficients to the typical grey wolf optimizer (GWO). The GWO and EGWO, then, are applied to optimize the proposed control parameters which result in the optimized GWO-HFOPDSMC and EGWO-HFOPDSMC, respectively. The effectivenesses of the optimized controllers (GWO-HFOPDSMC and EGWO-HFOPDSMC) are completely verified by comparing the simulation results of the optimized controllers with the typical FOSMC and HFOPDSMC.

On Robust Control of Fractional Order Plants: Invariant Phase Margin

2015 ◽  
Vol 10 (5) ◽  
Author(s):  
Mohammad Hossein Basiri ◽  
Mohammad Saleh Tavazoei
Keyword(s):  
Robust Control ◽  
Fractional Order ◽  
Phase Margin ◽  
Crossover Frequency ◽  
Large Uncertainty ◽  
Robust Controller ◽  
Numerical Examples

Recently, a robust controller has been proposed to be used in control of plants with large uncertainty in location of one of their poles. By using this controller, not only the phase margin and gain crossover frequency are adjustable for the nominal case but also the phase margin remains constant, notwithstanding the variations in location of the uncertain pole of the plant. In this paper, the tuning rule of the aforementioned controller is extended such that it can be applied in control of plants modeled by fractional order models. Numerical examples are provided to show the effectiveness of the tuned controller.

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