Publication: A graphical tuning method for fractional order controllers based on iso-slope phase curves
dc.affiliation.dpto | UC3M. Departamento de Ingeniería de Sistemas y Automática | es |
dc.affiliation.grupoinv | UC3M. Grupo de Investigación: Laboratorio de Robótica (Robotics Lab) | es |
dc.contributor.author | Muñoz Yáñez-Barnuevo, Jorge | |
dc.contributor.author | Monje Micharet, Concepción Alicia | |
dc.contributor.author | Nagua Cuenca, Luis Fernando | |
dc.contributor.author | Balaguer Bernaldo de Quirós, Carlos | |
dc.contributor.funder | Comunidad de Madrid | es |
dc.contributor.funder | Ministerio de Economía y Competitividad (España) | es |
dc.date.accessioned | 2022-02-03T12:53:32Z | |
dc.date.available | 2022-10-01T23:00:05Z | |
dc.date.issued | 2020-10 | |
dc.description.abstract | Fractional 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.sponsorship | Research 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.extent | 12 | |
dc.identifier.bibliographicCitation | Muñoz, 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.doi | https://doi.org/10.1016/j.isatra.2020.05.045 | |
dc.identifier.issn | 0019-0578 | |
dc.identifier.publicationfirstpage | 296 | |
dc.identifier.publicationlastpage | 307 | |
dc.identifier.publicationtitle | ISA Transactions | en |
dc.identifier.publicationvolume | 105 | |
dc.identifier.uri | https://hdl.handle.net/10016/34035 | |
dc.identifier.uxxi | AR/0000026403 | |
dc.language.iso | eng | en |
dc.publisher | Elsevier | en |
dc.relation.projectID | Gobierno de España. DPI2016-75330-P | es |
dc.relation.projectID | Comunidad de Madrid. S2018/NMT-4331 | es |
dc.rights | © 2020 ISA. Published by Elsevier Ltd. All rights reserved. | en |
dc.rights | Atribución-NoComercial-SinDerivadas 3.0 España | * |
dc.rights.accessRights | open access | en |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ | * |
dc.subject.eciencia | Robótica e Informática Industrial | es |
dc.subject.other | Fractional order controller | en |
dc.subject.other | Tuning methods | en |
dc.subject.other | Robust control | en |
dc.subject.other | Soft robotics | en |
dc.title | A graphical tuning method for fractional order controllers based on iso-slope phase curves | en |
dc.type | research article | * |
dc.type.hasVersion | AM | * |
dspace.entity.type | Publication |
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