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Experimental validation of a novel auto-tuning method for a fractional order PI controller on an UR10 robot

(2018) ALGORITHMS. 11(7).
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Abstract
Classical fractional order controller tuning techniques usually consider the frequency domain specifications (phase margin, gain crossover frequency, iso-damping) and are based on knowledge of a process model, as well as solving a system of nonlinear equations to determine the controller parameters. In this paper, a novel auto-tuning method is used to tune a fractional order PI controller. The advantages of the proposed auto-tuning method are two-fold: There is no need for a process model, neither to solve the system of nonlinear equations. The tuning is based on defining a forbidden region in the Nyquist plane using the phase margin requirement and determining the parameters of the fractional order controller such that the loop frequency response remains out of the forbidden region. Additionally, the final controller parameters are those that minimize the difference between the slope of the loop frequency response and the slope of the forbidden region border, to ensure the iso-damping property. To validate the proposed method, a case study has been used consisting of a pick and place movement of an UR10 robot. The experimental results, considering two different robot configurations, demonstrate that the designed fractional order PI controller is indeed robust.
Keywords
fractional order control, auto-tuning method, robustness, experimental validation, robot

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Citation

Please use this url to cite or link to this publication:

MLA
Muresan, Cristina I. et al. “Experimental Validation of a Novel Auto-tuning Method for a Fractional Order PI Controller on an UR10 Robot.” ALGORITHMS 11.7 (2018): n. pag. Print.
APA
Muresan, Cristina I., Copot, C., Birs, I. R., De Keyser, R., Vanlanduit, S., & Ionescu, C.-M. (2018). Experimental validation of a novel auto-tuning method for a fractional order PI controller on an UR10 robot. ALGORITHMS, 11(7).
Chicago author-date
Muresan, Cristina I., Cosmin Copot, Isabela Roxana Birs, Robain De Keyser, Steve Vanlanduit, and Clara-Mihaela Ionescu. 2018. “Experimental Validation of a Novel Auto-tuning Method for a Fractional Order PI Controller on an UR10 Robot.” Algorithms 11 (7).
Chicago author-date (all authors)
Muresan, Cristina I., Cosmin Copot, Isabela Roxana Birs, Robain De Keyser, Steve Vanlanduit, and Clara-Mihaela Ionescu. 2018. “Experimental Validation of a Novel Auto-tuning Method for a Fractional Order PI Controller on an UR10 Robot.” Algorithms 11 (7).
Vancouver
1.
Muresan CI, Copot C, Birs IR, De Keyser R, Vanlanduit S, Ionescu C-M. Experimental validation of a novel auto-tuning method for a fractional order PI controller on an UR10 robot. ALGORITHMS. MDPI; 2018;11(7).
IEEE
[1]
C. I. Muresan, C. Copot, I. R. Birs, R. De Keyser, S. Vanlanduit, and C.-M. Ionescu, “Experimental validation of a novel auto-tuning method for a fractional order PI controller on an UR10 robot,” ALGORITHMS, vol. 11, no. 7, 2018.
@article{8628478,
  abstract     = {Classical fractional order controller tuning techniques usually consider the frequency domain specifications (phase margin, gain crossover frequency, iso-damping) and are based on knowledge of a process model, as well as solving a system of nonlinear equations to determine the controller parameters. In this paper, a novel auto-tuning method is used to tune a fractional order PI controller. The advantages of the proposed auto-tuning method are two-fold: There is no need for a process model, neither to solve the system of nonlinear equations. The tuning is based on defining a forbidden region in the Nyquist plane using the phase margin requirement and determining the parameters of the fractional order controller such that the loop frequency response remains out of the forbidden region. Additionally, the final controller parameters are those that minimize the difference between the slope of the loop frequency response and the slope of the forbidden region border, to ensure the iso-damping property. To validate the proposed method, a case study has been used consisting of a pick and place movement of an UR10 robot. The experimental results, considering two different robot configurations, demonstrate that the designed fractional order PI controller is indeed robust.},
  articleno    = {95},
  author       = {Muresan, Cristina I. and Copot, Cosmin and Birs, Isabela Roxana and De Keyser, Robain and Vanlanduit, Steve and Ionescu, Clara-Mihaela},
  issn         = {1999-4893},
  journal      = {ALGORITHMS},
  keywords     = {fractional order control,auto-tuning method,robustness,experimental validation,robot},
  language     = {eng},
  number       = {7},
  publisher    = {MDPI},
  title        = {Experimental validation of a novel auto-tuning method for a fractional order PI controller on an UR10 robot},
  url          = {http://dx.doi.org/10.3390/a11070095},
  volume       = {11},
  year         = {2018},
}

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