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Implementation of a fractional PD controller tuned by genetic algorithm for a Steward platform

Yu Zhong (UGent) , Abhishek Dutta (UGent) , Cosmin Copot (UGent) , Clara-Mihaela Ionescu (UGent) and Robain De Keyser (UGent)
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Abstract
Mechatronic systems are conventionally modeled by integer order state equations for simplicity. Based on these integer-order models, integer-order PID or other classical model-based controllers are designed. However, often complex mechatronic systems require fractional-order state equations for a more adequate description. In this paper, a Steward platform (ball and plate system) with different balls is used to demonstrate this. A fractional-order PD controller is designed and tuned by a genetic algorithm based global optimizer to obtain the suitable parameter values in time domain. The experimental results show that the fractional-order PD controllers can provide better performances than conventional integer-order PD controllers.
Keywords
fractional-order controller, genetic algorithm, PID control, Steward platform

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Chicago
Zhong, Yu, Abhishek Dutta, Cosmin Copot, Clara-Mihaela Ionescu, and Robain De Keyser. 2013. “Implementation of a Fractional PD Controller Tuned by Genetic Algorithm for a Steward Platform.” In 2013 9th Asian Control Conference (ASCC). New York, NY, USA: IEEE.
APA
Zhong, Yu, Dutta, A., Copot, C., Ionescu, C.-M., & De Keyser, R. (2013). Implementation of a fractional PD controller tuned by genetic algorithm for a Steward platform. 2013 9th Asian Control Conference (ASCC). Presented at the 9th Asian Control Conference (ASCC), New York, NY, USA: IEEE.
Vancouver
1.
Zhong Y, Dutta A, Copot C, Ionescu C-M, De Keyser R. Implementation of a fractional PD controller tuned by genetic algorithm for a Steward platform. 2013 9th Asian Control Conference (ASCC). New York, NY, USA: IEEE; 2013.
MLA
Zhong, Yu, Abhishek Dutta, Cosmin Copot, et al. “Implementation of a Fractional PD Controller Tuned by Genetic Algorithm for a Steward Platform.” 2013 9th Asian Control Conference (ASCC). New York, NY, USA: IEEE, 2013. Print.
@inproceedings{4163564,
  abstract     = {Mechatronic systems are conventionally modeled by integer order state equations for simplicity. Based on these integer-order models, integer-order PID or other classical model-based controllers are designed. However, often complex mechatronic systems require fractional-order state equations for a more adequate description. In this paper, a Steward platform (ball and plate system) with different balls is used to demonstrate this. A fractional-order PD controller is designed and tuned by a genetic algorithm based global optimizer to obtain the suitable parameter values in time domain. The experimental results show that the fractional-order PD controllers can provide better performances than conventional integer-order PD controllers.},
  author       = {Zhong, Yu and Dutta, Abhishek and Copot, Cosmin and Ionescu, Clara-Mihaela and De Keyser, Robain},
  booktitle    = {2013 9th Asian Control Conference (ASCC)},
  isbn         = {9781467357678},
  keyword      = {fractional-order controller,genetic algorithm,PID control,Steward platform},
  language     = {eng},
  location     = {Istanbul, Turkije},
  pages        = {6},
  publisher    = {IEEE},
  title        = {Implementation of a fractional PD controller tuned by genetic algorithm for a Steward platform},
  url          = {http://dx.doi.org/10.1109/ASCC.2013.6606245},
  year         = {2013},
}

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