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A graphical tuning method for fractional order controllers based on iso-slope phase curves

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dc.affiliation.dptoUC3M. Departamento de Ingeniería de Sistemas y Automáticaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: Laboratorio de Robótica (Robotics Lab)es
dc.contributor.authorMuñoz Yáñez-Barnuevo, Jorge
dc.contributor.authorMonje Micharet, Concepción Alicia
dc.contributor.authorNagua Cuenca, Luis Fernando
dc.contributor.authorBalaguer Bernaldo de Quirós, Carlos
dc.contributor.funderComunidad de Madrides
dc.contributor.funderMinisterio de Economía y Competitividad (España)es
dc.date.accessioned2022-02-03T12:53:32Z
dc.date.available2022-10-01T23:00:05Z
dc.date.issued2020-10
dc.description.abstractFractional order controllers are widely used in the robust control field. As a generalization of the ubiquitous PID controllers, fractional order controllers are able to reach design specifications their integer counterparts cannot, and as a result they outperform them at particular situations. Their main drawback is that generalization of the design tools is not always evident, and therefore tuning this kind of controller is always a new and different challenge. Existing methods often use numerical computation to find the controller parameters that fit the specifications. This paper describes a graphical solution for fractional order controllers, which avoids the solution by nonlinear equations and helps designer to solve the control problem in a very intuitive way. This approach is tested in the servomotors of a real bio-inspired soft neck and results are compared with those obtained from other control strategies. The experiments show that the controller tuned by this method works as expected from a robust controller and that this approach is very competitive compared to other state of the art methods, while offering a more simplified and direct tuning process.en
dc.description.sponsorshipResearch leading to these results has received funding from HUMASOFT project, with reference DPI2016-75330-P, funded by the Spanish Ministry of Economy and Competitiveness, and from RoboCity2030-DIH-CM Madrid Robotics Digital Innovation Hub, S2018/NMT-4331, funded by "Programas de Actividades I+D en la Comunidad de Madrid" and cofunded by Structural Funds of the EU.en
dc.format.extent12
dc.identifier.bibliographicCitationMuñoz, J., Monje, C. A., Nagua, L. F. & Balaguer, C. (2020). A graphical tuning method for fractional order controllers based on iso-slope phase curves. ISA Transactions, 105, 296–307.en
dc.identifier.doihttps://doi.org/10.1016/j.isatra.2020.05.045
dc.identifier.issn0019-0578
dc.identifier.publicationfirstpage296
dc.identifier.publicationlastpage307
dc.identifier.publicationtitleISA Transactionsen
dc.identifier.publicationvolume105
dc.identifier.urihttps://hdl.handle.net/10016/34035
dc.identifier.uxxiAR/0000026403
dc.language.isoengen
dc.publisherElsevieren
dc.relation.projectIDGobierno de España. DPI2016-75330-Pes
dc.relation.projectIDComunidad de Madrid. S2018/NMT-4331es
dc.rights© 2020 ISA. Published by Elsevier Ltd. All rights reserved.en
dc.rightsAtribución-NoComercial-SinDerivadas 3.0 España*
dc.rights.accessRightsopen accessen
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/*
dc.subject.ecienciaRobótica e Informática Industriales
dc.subject.otherFractional order controlleren
dc.subject.otherTuning methodsen
dc.subject.otherRobust controlen
dc.subject.otherSoft roboticsen
dc.titleA graphical tuning method for fractional order controllers based on iso-slope phase curvesen
dc.typeresearch article*
dc.type.hasVersionAM*
dspace.entity.typePublication
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