Robust Auto-tuning Fractional Order Control of an Aerodynamical System

Abstract

The present paper's goal is to offer to the user a method which are similar to the "Plug and Play" idea in the world of "Control": the auto-tuning control structure of a twinrotor aerodynamical system, a highly nonlinear, multi input multi output system. Knowing the fact that in industrial applications PID controllers are widely used, the authors uses a generalized PID: a fractional order PID controller. The controller parameters are tuned based on a novel, simplified algorithm using vector theory. Experimental results using a laboratory scale equipment reveal that the suggested control approach is effective and near optimal.

A Review of Recent Developments in Autotuning Methods for Fractional-Order Controllers

“…A "plug and play" solution for a multivariable FO-PI controller is developed in [58] for controlling a multivariable twin-rotor aerodynamical system. A decentralized approach is considered and three performance specifications, as in ( 2)-( 4), are used to compute the parameters of the two FO-PI controllers, one for azimuth and one for pitch angle control.…”

“…A "plug and play" solution for a multivariable FO-PI controller is developed in [58] for controlling a multivariable twin-rotor aerodynamical system. A decentralized approach is considered and three performance specifications, as in ( 2)-( 4 Then, using classical trigonometric equations based on Figure 1, the proportional gain and integral time constant of the FO-PI controller are determined as a function of the fractional order 𝜆, using the gain crossover equation ( 2) and the phase margin equation in (3).…”