Tuning of fractional-order PID controller—a review

Shah, Devnath; Chatterjee, Saibal; Bharati, K

doi:10.1201/b20012-64

Cited by 4 publications

(3 citation statements)

References 2 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The geodesic curve connecting the two can be found by using a simple shooting method, consisting in simulating multiple random initial velocities the dynamics (6). The curve is then parametrized using 50th order polynomials.…”

Section: E Bounds On the Exponential Convergencementioning

confidence: 99%

PD-Like Regulation of Mechanical Systems With Prescribed Bounds of Exponential Stability: The Point-to-Point Case

Calzolari

Santina

Albu‐Schäffer

2021

IEEE Control Syst. Lett.

View full text Add to dashboard Cite

This letter discusses an extension of the famous PD regulator implementing point to point motions with prescribed exponential rates of convergence. This is achieved by deriving a novel global exponential stability result, dealing with mechanical systems evolving on uni-dimensional invariant manifolds of the configuration space. The construction of closed loop controllers enforcing the existence of such manifolds is then discussed. Explicit upper and lower bounds of convergence are provided, and connected to the gains of the closed loop controller. Simulations are carried out, assessing the effectiveness of the controller and the tightness of the exponential bounds.

show abstract

Section: E Bounds On the Exponential Convergencementioning

confidence: 99%

PD-Like Regulation of Mechanical Systems With Prescribed Bounds of Exponential Stability: The Point-to-Point Case

Calzolari

Santina

Albu‐Schäffer

2021

IEEE Control Syst. Lett.

View full text Add to dashboard Cite

show abstract

“…In contrast to conventional PID controller, Fractional Order PID controller utilizes fraction calculus. The characteristics of parameter λ and µ in the Fractional Order PID (FOPID) controller are shown in the following Figure 5 [8] [16].…”

Section: Fractional Order Pid Controllermentioning

confidence: 99%

Design of a Fractional Order PID Controller for Electric Hydraulic Actuator

Atsari

Halim

2021

KINETIK

View full text Add to dashboard Cite

Electric hydraulic actuators are more used especially in industries that demand high levels of accuracy. A common problem with this type of actuator is consistency in fluid flow control. PID controllers can accelerate the achievement of defined output values, eliminate offsets, and reduce maximum overshoots but result in considerable errors. Therefore, it is necessary to design controllers that can reduce errors significantly. In this research, a Fractional Order PID controller is developed to reduce maximum overshoots and steady state. Unlike conventional PID controllers that have three parameters, in the Fractional Order PID controller, there are extra two parameters of the λ and μ. The parameters were selected using the Ziegler Nichols method with a 1st order approach with a delay time. Meanwhile, the λ and μ parameters were selected the best value to make the system response better. The results of the design of the Fractional Order PID controller were evaluated using matlab simulation. The simulation results showed that the Fractional Order PID controller was able to reduce the steady state error response by 0.5 %, and the maximum overshoots by 17.4 %. From this result, it can be noted that the Fractional Order PID controller is better than conventional PID.

show abstract

“…This extension increases the flexibility of control system design and can realize the control process more accurately. With the help of a fractional order PID controller, the controller can be designed to ensure that the closed-loop system has a stronger robustness to gain variation and aging effect [11]. Therefore, PID and other model-based control strategies have proved to be effective, but these methods need to obtain dynamic model information of the controlled object.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Proportional Integral Robust Control of an Uncertain Robotic Manipulator Based on Deep Deterministic Policy Gradient

Huang

Xiao

et al. 2021

Mathematics

View full text Add to dashboard Cite

An adaptive proportional integral robust (PIR) control method based on deep deterministic policy gradient (DDPGPIR) is proposed for n-link robotic manipulator systems with model uncertainty and time-varying external disturbances. In this paper, the uncertainty of the nonlinear dynamic model, time-varying external disturbance, and friction resistance of the n-link robotic manipulator are integrated into the uncertainty of the system, and the adaptive robust term is used to compensate for the uncertainty of the system. In addition, dynamic information of the n-link robotic manipulator is used as the input of the DDPG agent to search for the optimal parameters of the proportional integral robust controller in continuous action space. To ensure the DDPG agent’s stable and efficient learning, a reward function combining a Gaussian function and the Euclidean distance is designed. Finally, taking a two-link robot as an example, the simulation experiments of DDPGPIR and other control methods are compared. The results show that DDPGPIR has better adaptive ability, robustness, and higher trajectory tracking accuracy.

show abstract

Tuning of fractional-order PID controller—a review

Cited by 4 publications

References 2 publications

PD-Like Regulation of Mechanical Systems With Prescribed Bounds of Exponential Stability: The Point-to-Point Case

PD-Like Regulation of Mechanical Systems With Prescribed Bounds of Exponential Stability: The Point-to-Point Case

Design of a Fractional Order PID Controller for Electric Hydraulic Actuator

Adaptive Proportional Integral Robust Control of an Uncertain Robotic Manipulator Based on Deep Deterministic Policy Gradient

Contact Info

Product

Resources

About