Review of fractional PID controller

Shah, Pritesh; Agashe, Sudhir

doi:10.1016/j.mechatronics.2016.06.005

Cited by 571 publications

(343 citation statements)

References 79 publications

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“…Recently, the fractional order calculus has become an interesting topic and extensively used in control design [31][32][33]. In comparison with the conventional controllers based on integer order integrator and differentiator, the fractional order controller offers more degree of freedom which can be utilized to further improve the performance of the control system.…”

Section: Trajectory Tracking Controlmentioning

confidence: 99%

“…Based on the mathematical model, a modified computed torque controller is proposed to enhance the tracking performance. This modified algorithm employs a fractional order derivative [31][32][33] which provides one more degree-of-freedom (DOF) for tuning. Then, a new compliance control method is proposed based on the estimation of a new defined human active torque.…”

Section: Introductionmentioning

confidence: 99%

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Assist-as-Needed Control of a Robotic Orthosis Actuated by Pneumatic Artificial Muscle for Gait Rehabilitation

Dao

Yamamoto

2018

Applied Sciences

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Rehabilitation robots are designed to help patients improve their recovery from injury by supporting them to perform repetitive and systematic training sessions. These robots are not only able to guide the subjects' lower-limb to a designate trajectory, but also estimate their disability and adapt the compliance accordingly. In this research, a new control strategy for a high compliant lower-limb rehabilitation orthosis system named AIRGAIT is developed. The AIRGAIT orthosis is powered by pneumatic artificial muscle actuators. The trajectory tracking controller based on a modified computed torque control which employs a fractional derivative is proposed for the tracking purpose. In addition, a new method is proposed for compliance control of the robotic orthosis which results in the successful implementation of the assist-as-needed training strategy. Finally, various subject-based experiments are carried out to verify the effectiveness of the developed control system.

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Section: Trajectory Tracking Controlmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Assist-as-Needed Control of a Robotic Orthosis Actuated by Pneumatic Artificial Muscle for Gait Rehabilitation

Dao

Yamamoto

2018

Applied Sciences

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“…They are widely used because they are able to adjust more precisely than PID controllers. The best knowns are the descriptions of Caputo, Grunwald-Letkinov, and Reimann-Liouville [27,28]. The PI λ D μ controller general block diagram is shown in Figure 5.…”

Section: Fractional Pid Controller (Pimentioning

confidence: 99%

A Five-Level H-Bridge STATCOM for an Off-Grid PV Solar Farm under Two Controllers PI and PI^λ-MPC Hybrid

Mengi

2018

International Journal of Photoenergy

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Investigations were presented in order to eliminate the reactive power on microgrid loads fed by an off-grid and mid-power photovoltaic solar energy system (PVSES) with a static synchronous compensator (STATCOM) device. The electric network is specifically characterized by P-Q loads, ambient temperature, and widely variable solar radiation levels. Two main innovations are developed. Firstly, the STATCOM apparatus is a 5-level H-bridge inverter with capacitances as load and must totally compensates the reactive power in the network load. Secondly, this compensation is controlled by a set of fractional PI (PI λ ) and model predictive control (MPC) hybrid. The efficiencies of these controllers were compared with classical PI controllers. Large simulations, without and with reactive power compensation, in steady and transient states, are carried out to underline the merits of the presented works, by performing in the MATLAB-Simulink environment.

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“…A nonlinear controller is suggested by Su in 2005 which enhances the performance of the standard linear PID controller [8]. The PID controllers are also combined with fuzzy logic [9][10][11][12], neural networks [13][14][15][16], or implemented based on fractional order [17][18][19]. This paper proposes a nonlinear controller known as Improved nonlinear state error feedback controller.…”

Section: Introductionmentioning

confidence: 99%

From PID to Nonlinear State Error Feedback Controller

Abdul-Adheem¹,

Ibraheem²

2017

ijacsa

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Abstract-In this paper an improved nonlinear state error feedback controller (INLSEF) has been proposed for perfect reference tracking and minimum control energy. It consists of a nonlinear tracking differentiator together with nonlinear combinations of the error signal. The tracking differentiator generates a set of reference profile for the input signal, which is the signal itself in addition to its derivatives. On the other hand, the 12-parameters nonlinear combinations of the error signal make the INLSEF controller can handles with time-varying and system's nonlinearity. Digital simulation studies have been conducted for the proposed controller and compared with several works from literature survey on two case studies, mass-springdamper which is a very nonlinear system and nonlinear ball and beam systems. The parameters of the nonlinear combination of the error signal are tuned to satisfy the optimality condition by minimizing the OPI performance index defined in this work. From the simulations results one can conclude that the proposed INLSEF controller performance is better than that of its counterpart in terms of speed and control energy and minimum error. Also, the results showed that the proposed controller is effectively enhancing the stability and performance of the closed loop system.

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Review of fractional PID controller

Cited by 571 publications

References 79 publications

Assist-as-Needed Control of a Robotic Orthosis Actuated by Pneumatic Artificial Muscle for Gait Rehabilitation

Assist-as-Needed Control of a Robotic Orthosis Actuated by Pneumatic Artificial Muscle for Gait Rehabilitation

A Five-Level H-Bridge STATCOM for an Off-Grid PV Solar Farm under Two Controllers PI and PI^λ-MPC Hybrid

From PID to Nonlinear State Error Feedback Controller

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Review of fractional PID controller

Cited by 571 publications

References 79 publications

Assist-as-Needed Control of a Robotic Orthosis Actuated by Pneumatic Artificial Muscle for Gait Rehabilitation

Assist-as-Needed Control of a Robotic Orthosis Actuated by Pneumatic Artificial Muscle for Gait Rehabilitation

A Five-Level H-Bridge STATCOM for an Off-Grid PV Solar Farm under Two Controllers PI and PIλ-MPC Hybrid

From PID to Nonlinear State Error Feedback Controller

Contact Info

Product

Resources

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A Five-Level H-Bridge STATCOM for an Off-Grid PV Solar Farm under Two Controllers PI and PI^λ-MPC Hybrid