TY - GEN
T1 - Real-time tracking control of a position servo employing fractional order controllers
AU - Rojas-Moreno, Arturo
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/6/28
Y1 - 2017/6/28
N2 - This work studies the tracking control performance of a DC position servo driving a load, a metal rod attached to the DC servo shaft, acting as a robot link. Such a servo is controlled by three IO (Integer Order) and three FO (Fractional Order) controllers. The IO controllers are: the LQR (Linear Quadratic Regulator) controller, the PC (Predictive Controller) controller, and the BC (Backstepping Controller) controller. The FO controllers are counterparts of IO controllers. That is, FO LQR, FO PC, and FO BC controllers, which can be obtained substituting in each IO controller s by sm and 1/s by 1/sn, where s is the Laplace operator, and m and n are fractional numbers between 0 and 1. The modified Oustaloup filter is used to approximate the FO operators sm and 1/sn. The trajectory signal used for all experiments is a ramp added to a sinusoid. Experimental results demonstrate that both, IO and FO controllers perform well with little differences.
AB - This work studies the tracking control performance of a DC position servo driving a load, a metal rod attached to the DC servo shaft, acting as a robot link. Such a servo is controlled by three IO (Integer Order) and three FO (Fractional Order) controllers. The IO controllers are: the LQR (Linear Quadratic Regulator) controller, the PC (Predictive Controller) controller, and the BC (Backstepping Controller) controller. The FO controllers are counterparts of IO controllers. That is, FO LQR, FO PC, and FO BC controllers, which can be obtained substituting in each IO controller s by sm and 1/s by 1/sn, where s is the Laplace operator, and m and n are fractional numbers between 0 and 1. The modified Oustaloup filter is used to approximate the FO operators sm and 1/sn. The trajectory signal used for all experiments is a ramp added to a sinusoid. Experimental results demonstrate that both, IO and FO controllers perform well with little differences.
UR - https://www.scopus.com/pages/publications/85049556210
U2 - 10.1109/ECON.2017.8247306
DO - 10.1109/ECON.2017.8247306
M3 - Conference contribution
AN - SCOPUS:85049556210
T3 - Proceedings of the 2017 Electronic Congress, E-CON UNI 2017
SP - 1
EP - 4
BT - Proceedings of the 2017 Electronic Congress, E-CON UNI 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 Electronic Congress, E-CON UNI 2017
Y2 - 22 November 2017 through 24 November 2017
ER -