Fractional Order Controllers Versus Integer Order Controllers

Dulău, Mircea; Gligor, Adrian; Dulău, Tudor-Mircea

doi:10.1016/j.proeng.2017.02.431

Cited by 64 publications

(36 citation statements)

References 9 publications

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“…It provides robustness and stability. In the literature, it is endowed that SMC is efficacious in controlling the extensive series of plants including discrete-time systems, non-linear highly coupled uncertain systems and MIMO (multiple-input multipleoutput) system [2][3][4][5][6][7][8][9][10][11][12][13][14][15][16][17]. As SMC provide robustness and stability; so in surgical robots, there is a requirement of SMC.…”

Section: Sliding Mode Control For Robotic Manipulatormentioning

confidence: 99%

“…(22) he FOPID-SMC has the fractional order type PID based sliding surface which contain the proportional, derivative and integral terms and the two subsidiary parameters: order of fractional integration (δ) and order of fractional derivative (µ) that enhance both accuracy and flexibility of the system [9,11]. It is defined as:…”

Section: Sliding Mode Control For Robotic Manipulatormentioning

confidence: 99%

“…So, the combination of the pros of both SMC and PID control gives good tracking performance and stability [8]. FOPID controllers [9,11] are superior than PID controllers due to the increase in number of gain parameters improve flexibility and performance. Therefore, the blending of FOPID and SMC will be advantageous in enhancing the performance and robustness to the system.…”

Section: Introductionmentioning

confidence: 99%

“…Therefore, the blending of FOPID and SMC will be advantageous in enhancing the performance and robustness to the system. But chattering is still the major impediment to the application of SMC and extremely deteriorates the tracking performance of the controlled manipulator [2][3][4][5][6][7][8][9][10]. Hence, in this paper the smoothing FOPID-SMC for robotic-assisted surgery has been proposed that alleviates the chattering and increases the precision compared to conventional SMC.…”

Section: Introductionmentioning

confidence: 99%

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Design of Smoothing FOPID Sliding Mode Controlled Robotic Manipulator for Robotic-Assisted Surgery

Sachan¹,

Swarnkar²,

Nema³

2019

IJRTE

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Robotic-assisted surgery (RAS) is a mode of technical advancement in the medical field that utilizes robotic articulation to aid surgeries. The fine-motion and precise control of robotic manipulator is prerequisite in surgical applications. In this paper, the improved control methodology for controlling the 3DOF (degree of freedom) robotic manipulator's motion named as smoothing fractional order proportional integral derivativesliding mode control (FOPID-SMC) for the attainment of finest results by eliminating the perturbations has been showcased. The performance of smoothing FOPID-SMC controller in robotic manipulator is compared with the conventional SMC controllers. The simulation results prominently illustrate the efficacy of the proposed methodology, and superior tracking and robust performance with alleviated chattering compared to the classical methodologies. Index Terms: DOF (Degree of freedom), FOPID-SMC, Robotic-assisted surgery (RAS), Robotic manipulator, SMCI.

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Section: Sliding Mode Control For Robotic Manipulatormentioning

confidence: 99%

Section: Sliding Mode Control For Robotic Manipulatormentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Design of Smoothing FOPID Sliding Mode Controlled Robotic Manipulator for Robotic-Assisted Surgery

Sachan¹,

Swarnkar²,

Nema³

2019

IJRTE

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“…conventional PID controller, two additional parameters which are the integrating order, λ and the derivative order, μ have been integrated into the integral and derivative gains of the PID controller [11][12][13]. The transfer function of the conventional PID controller is usually written as (10) where K p is the proportional gain, T i is the integral gain time in constant time, and T d is the derivative gain in constant time.…”

Section: Fractional Order Pid Controllermentioning

confidence: 99%

Comparison of Fractional Order PID Controller and Sliding Mode Controller with Computational Tuning Algorithm

Soon¹,

Ghazali²,

Chong³

et al. 2019

ujeee

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The industry processes involving punching, lifting, and digging usually require high precision, high force and long operating hours that increase the prestige in the usage of the electrohydraulic actuator (EHA) system. These processes with the companion of the EHA system usually possess high dynamic complexities that are hard to be controlled and require well-designed and powerful control system. Therefore, this paper will involve the examination of the designed controllers which is applied to the EHA system. Firstly, the conventional proportional-integral-derivative (PID) controller which is the famous controller in the industry is designed. Then, the improved PID controller, which is known as the fractional order PID (FO-PID) controller is designed. After that, the design of the gradually famous robust controller in the education field, which is the sliding mode controller (SMC) is performed. Since the controller's parameters are essentially influencing the performance of the controller, the meta-heuristic optimization method, which is the particle swarm optimization (PSO) tuning method is applied. The variation in the system's parameter is applied to evaluate the performance of the designed controllers. Referring to the outcome analysis, the increment of 59.3% is obtained in the comparison between PID and FOPID, while the increment of 67.13% is obtained in the comparison of the PID with the SMC controller. As a conclusion, all of the controllers perform differently associated with their own advantages and disadvantages.

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Modeling and adaptive controlling of cable‐drogue docking system for autonomous underwater vehicles

Liu

et al. 2021

Adaptive Control & Signal

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In this article, a novel cable-drogue docking system is proposed between an autonomous underwater vehicle (AUV) and one mobile underwater platform, to increase the docking safety and reduce the negative influences of turbulences around the platform shell on the AUV. The mathematical model of the cable-drogue system and an radial basis function neural network (RBFNN)-based Q-learning proportional-integral-differential (PID) controller are developed for the system characteristics analysis and the stabilized control. First, the cable-drogue's mathematical model is established as a link-joint-connected system, whose kinematic and dynamic equations are derived subjected to the hydrodynamic forces on system. One numerical solution procedure is also presented to obtain the motion state of the cable-drogue system. Next, considering the current interferences on the cable-drogue system, a cross rudder is added on the drogue to enhance the robustness. An RBFNN-based Q-learning PID controller is proposed to improve the control performances, in which the control parameters are adaptively optimized by an Q-learning neural network. Finally, numerical simulations are made to study the steady-state and dynamic characteristics of the cable-drogue system in ocean environment, and to investigate the performances of both the traditional PID controller and the proposed RBFNN-based Q-learning PID controller in unknown dynamical system. Simulation results show the effectiveness of the kinematic and dynamic equations of the cable-drogue system and the proposed controller in this article.

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Fractional Order Controllers Versus Integer Order Controllers

Cited by 64 publications

References 9 publications

Design of Smoothing FOPID Sliding Mode Controlled Robotic Manipulator for Robotic-Assisted Surgery

Design of Smoothing FOPID Sliding Mode Controlled Robotic Manipulator for Robotic-Assisted Surgery

Comparison of Fractional Order PID Controller and Sliding Mode Controller with Computational Tuning Algorithm

Modeling and adaptive controlling of cable‐drogue docking system for autonomous underwater vehicles

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