scholarly journals Stabilization and Tracking Control of Inverted Pendulum Using Fractional Order PID Controllers

2014 ◽  
Vol 2014 ◽  
pp. 1-9 ◽  
Author(s):  
Sunil Kumar Mishra ◽  
Dinesh Chandra
Keyword(s):  
Fractional Calculus ◽  
Fractional Order ◽  
Tracking Control ◽  
Inverted Pendulum ◽  
Fitness Function ◽  
Pid Controllers ◽  
Simulink Model ◽  
System A ◽  
Simulation Results ◽  
Fractional Order Pid

This work focuses on the use of fractional calculus to design robust fractional-order PID (PIλDμ) controller for stabilization and tracking control of inverted pendulum (IP) system. A particle swarm optimisation (PSO) based direct tuning technique is used to design two PIλDμcontrollers for IP system without linearizing the actual nonlinear model. The fitness function is minimized by running the SIMULINK model of IP system according to the PSO program in MATLAB. The performance of proposed PIλDμcontrollers is compared with two PID controllers. Simulation results are also obtained by adding disturbances to the model to show the robustness of the proposed controllers.

Fractional-Order PID Controller of a Heating-Furnace System

2012 ◽  
Vol 490-495 ◽  
pp. 1145-1149 ◽  
Author(s):  
Yan Mei Wang ◽  
Yi Jie Liu ◽  
Rui Zhu ◽  
Yan Zhu Zhang
Keyword(s):  
Fractional Calculus ◽  
Fractional Order ◽  
Pid Control ◽  
Pid Controller ◽  
Control Method ◽  
Heating Furnace ◽  
Order Model ◽  
Integer Order ◽  
System A ◽  
Fractional Order Pid

This paper discusses the fractional-order controller of heating-furnace system, a new PID controller of heating-furnace system based on fractional calculus will be considered. Classical PID control method is also studied. Then, this paper presents the fractional-order PID control method based on integer-order model of heating-furnace system. Meanwhile, simulation study is done. Comparing the control methods and strategies of integer order model of the heating-furnace system, a conclusion is drawn that PID control based on fractional calculus is much more complex than that of integer order controller. Numerical simulations are used to illustrate the improvements of the proposed controller for the integer-order heating-furnace systems.

scholarly journals Tracking Control for an Electro-Hydraulic Rotary Actuator Using Fractional Order Fuzzy PID Controller

Electronics ◽  
2020 ◽  
Vol 9 (6) ◽  
pp. 926 ◽  
Author(s):  
Tri Cuong Do ◽  
Duc Thien Tran ◽  
Truong Quang Dinh ◽  
Kyoung Kwan Ahn
Keyword(s):  
Fuzzy Logic ◽  
Control System ◽  
Fractional Order ◽  
Tracking Control ◽  
Trajectory Tracking Control ◽  
Integer Order ◽  
Fuzzy Pid Controller ◽  
System A ◽  
Rotary Actuator ◽  
Fractional Order Pid

This paper presents a strategy for a fractional order fuzzy proportional integral derivative controller (FOFPID) controller for trajectory-tracking control of an electro-hydraulic rotary actuator (EHRA) under variant working requirements. The proposed controller is based on a combination of a fractional order PID (FOPID) controller and a fuzzy logic system. In detail, the FOPID with extension from the integer order to non-integer order of integral and derivative functions helps to improve tracking, robustness and stability of the control system. A fuzzy logic control system is designed to adjust the FOPID parameters according to time-variant working conditions. To evaluate the proposed controller, co-simulations (using AMESim and MATLAB) and real-time experiments have been conducted. The results show the effectiveness of the proposed approach compared to other typical controllers.

Design of Fractional Order PID Controller Using Genetic Algorithm Optimization Technique for Nonlinear System

2020 ◽  
Vol 15 (2) ◽  
Author(s):  
Shivanky Jaiswal ◽  
Chiluka Suresh Kumar ◽  
Murali Mohan Seepana ◽  
G. Uday Bhaskar Babu
Keyword(s):  
Genetic Algorithm ◽  
Nonlinear System ◽  
Fractional Order ◽  
Pid Controller ◽  
Fitness Function ◽  
Optimization Technique ◽  
Algorithm Optimization ◽  
Simulation Results ◽  
Fractional Order Pid ◽  
Fractional Order Pid Controller

AbstractIn this paper, fractional order PID controller, as well as integer order PID controller, is designed for non-linear system to enhance the system’s performance and gain the stability. The novelty of the work is achieved by the development of a new methodology for integer order PID and fractional order PID control tuning by optimizing the parameters of controllers using the Genetic Algorithms optimization technique. The performance of any system mainly depends upon how efficiently the controller will be working and hence that’s how most crucial part of the designing of FOPID controller or any controller is the tuning of its parameters. The uniquely designed and tuned parameters of the FOPID controller which is obtained by optimizing all the five parameters by using an evolutionary algorithm optimization technique i. e. a genetic algorithm which is a very powerful search tool and carrying heuristic characteristics. This method of tuning the FOPID controller which is designed and has been applied over the conical tank (nonlinear) system. The most important step in applying genetic algorithm is the selection of the fitness function and hence Integral of time multiplied by absolute error (ITAE) have been used here as the fitness function. Each chromosome comprised of all the five parameters of FOPID controller, which have been further optimised using above mentioned fitness function. From the simulation results, it can be observed that the solutions which are obtained optimally, presents an excellent performance for the system studied, by improving the behaviour of the system satisfactorily. Simulation results also show that the proposed FOPID controller gives improved performance over classical PID controller in terms of IAE and TV.

Unique fractional calculus engineering laboratory for learning and research

2018 ◽  
Vol 57 (1) ◽  
pp. 3-23 ◽  
Author(s):  
Swapnil Khubalkar ◽  
Anjali Junghare ◽  
Mohan Aware ◽  
Shantanu Das
Keyword(s):  
Fractional Calculus ◽  
Real Time ◽  
Fractional Order ◽  
Digital Signal Processor ◽  
Magnetic Levitation ◽  
Dc Motor ◽  
Pid Controllers ◽  
Digital Platforms ◽  
Digital Implementation ◽  
Fractional Order Pid

In this paper, a novel prototype laboratory is presented for engineering education, in which experiments are based on the fractional calculus. The prototypes of analog and digital fractional-order proportional-integral-derivative (PID) controllers are built in the laboratory. These fractional-order PID controllers are applied to linear and nonlinear plants to demonstrate the effectiveness of fractional-order calculus in real time. These experiments are designed, developed, and implemented on the analog and digital platforms. These controllers are integrated to control the DC motor, brushless DC motor, and magnetic levitation modules through hardware-in-loop as well as stand-alone systems. The analog type of fractional-order PID implementation is carried out by using passive components (i.e. resistances and capacitances) with an operational amplifier. However, real-time digital implementation is carried out using field-programmable gate array and digital signal processor. This paper describes how the experiments on fractional calculus can be tailored for graduate, undergraduate students’ education and extended for research in this emerging area.

scholarly journals Control of Inverted Pendulum Using Fractional Order PID Controllers Based on Particle Swarm Optimization

2018 ◽  
pp. 98-102
Author(s):  
Cemilcan Macit ◽  
Banu Ataslar Ayyildiz
Keyword(s):  
Particle Swarm Optimization ◽  
Fractional Order ◽  
Inverted Pendulum ◽  
Particle Swarm ◽  
Pid Controllers ◽  
Nonlinear Behaviour ◽  
Swarm Optimization ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
Fractional Order Pid

Issue of balance in robotics is best represented by the balancing act of the inverted pendulums. With their unstable and nonlinear behaviour, Inverted Pendulum systems are quite popular systems in which various control design methods are applied and performance comparisons are carried out. In this study, in order to control the pendulum angle and car position of the inverted pendulum system, a fractional order PID controller is designed. Gains of the designed controller are optimized by Particle Swarm Optimization method. On the other hand, for the aim of comparison of performance, conventional PID controllers are used for controllers. The optimum values of gains for PID controllers are also found by same optimization algorithm. The simulation results of both controllers are compared for the inverted pendulum.

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