Design of FOPID Controller for a DC Motor Using Approximation Techniques

Mohamed, Ahmed T.; Mahmoud, Mahmoud F.; Said, Lobna A.; Radwan, Ahmed G.

doi:10.1109/niles.2019.8909339

Cited by 6 publications

(2 citation statements)

References 10 publications

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“…The advantage of the Oustaloup approximation is that it provides a very accurate approximation of the fractional system with only the requirement of a small number of filter coefficients. This makes it a very efficient and computationally inexpensive technique [84].…”

Section: A Overview About Fractional Calculusmentioning

confidence: 99%

A Robust Fuzzy Fractional Order PID Design Based On Multi-Objective Optimization For Rehabilitation Device Control

Zaway,

Jallouli-Khlif,

Maalej

et al. 2023

Journal of Robotics and Control

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In this context, Fuzzy Fractional Order Proportional Integral Derivative (FOPID-FLC) controllers are emerged as efficient approaches due to their flexibility and ability to handle nonlinearities and uncertainties. This paper proposes the use of a FOPID-FLC controller for a two-degree-of-freedom (2-DOF) lower limb exoskeleton. Our proposal is based on an enhanced control approach that combines fuzzy logic advantages and fractional calculus benefits. Contrary to popular existing methods, that use the FLC to tune the FOPID parameters, the FLC in this work is used to generate the system torque depending on patient morphology. Indeed, our fundamental contribution is to design and implement an enhanced FOPID-FLC that achieves an adequate optimal control based on system rules composed of optimal torques and input data. The fractional calculus is approximated using successive first order filters. Next, a multi-objective optimization is established for the tuning of each FOPID parameters. Finally, the FLC is used to adjust the torque depending on the kid's age. The effectiveness of the proposed controller in various scenarios is validated based on numerical simulations. Extensive analyses prove that the FOPID-FLC outperforms the FOPID with a 90\% of improvement in terms of error performance indices and 20\% of improvement for the control action. Moreover, the controller exhibits improved robustness against uncertainties and disturbances encountered in rehabilitation environments.

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Section: A Overview About Fractional Calculusmentioning

confidence: 99%

A Robust Fuzzy Fractional Order PID Design Based On Multi-Objective Optimization For Rehabilitation Device Control

Zaway,

Jallouli-Khlif,

Maalej

et al. 2023

Journal of Robotics and Control

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“…The FPGA realization of IP core for generic fractionalorder derivative ,which allows the reconfigurability of fractional orders in the processing time, is required for different potential applications. This generic FPGA system can realize many fractional-order applications on hardware, e.g., edge detection [38], [39], control [40], [41], synchronization [42] and encryption [43]. Additionally, it can replace the current realizations of mixed-signal and digitally implemented fractional-order applications with the reconfigurable one, e.g., analog/mixed-signal systems [44], [45], control [46] and encryption [12], [47]- [49].…”

Section: Introductionmentioning

confidence: 99%

Reconfigurable FPGA Realization of Fractional-Order Chaotic Systems

et al. 2021

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This paper proposes FPGA realization of an IP core for generic fractional-order derivative based on Grünwald-Letnikov approximation. This generic design is applied to achieve reconfigurable realization of fractional-order chaotic systems. The fractional-order real-time configuration boosts the suitability of this particular realization for different applications, including dynamic switching, synchronization, and encryption. The proposed design targets optimized utilization of the FPGA internal resources and efficient employment of the external peripherals: switches and I/O ports in the FPGA board. The digital design of the fractional-order dependent terms: binomial coefficients and power function is proposed. Three approximations of the power function using curve fitting are compared, settling on the quadratic approximation that balances accuracy and efficiency. Three fractional-order chaotic systems: Liu, Li and Chen four-wing, are verified for both commensurate and incommensurate orders cases, using one approach for the commensurate order case and two approaches for the incommensurate order case. The reconfigurable design is realized on the Artix-7 FPGA board, yielding throughputs of 1.1266, 1.1266, and 1.434 Gbit/s for both commensurate and incommensurate orders cases of the three systems, respectively. Compared to recent related works, the proposed implementation demonstrates its efficient hardware utilization and suitability for potential applications.

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