RT Journal Article
T1 A graphical tuning method for fractional order controllers based on iso-slope phase curves
A1 Muñoz Yáñez-Barnuevo, Jorge
A1 Monje Micharet, Concepción Alicia
A1 Nagua Cuenca, Luis Fernando
A1 Balaguer Bernaldo de Quirós, Carlos
AB 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.
PB Elsevier
SN 0019-0578
YR 2020
FD 2020-10
LK https://hdl.handle.net/10016/34035
UL https://hdl.handle.net/10016/34035
LA eng
NO 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.
DS e-Archivo
RD 1 sept. 2024