Design and Stability Analysis of a Fractional Order State Feedback Controller for Trajectory Tracking of a Differential Drive Robot

International Journal of Control, Automation and Systems - In this paper, a new structure of a Fractional Order State Feedback Controller (FOSFC) is designed to solve the problem of trajectory...     

Fractional fixed-structure H∞ controller design using Augmented Lagrangian Particle Swarm Optimization with Fractional Order Velocity

The optimization of a fixed-structure controller is in general computationally intractable, posing a challenge to control system engineers. This paper introduces a novel technique for designing such control techniques by formulating it as a nonlinear non-convex constrained problem. A novel PSO algorithm, namely the Augmented Lagrangian Particle Swarm Optimization with Fractional Order Velocity (ALPSOFV), is proposed for improving the convergence rate. The structure of the controller is selectable and, therefore, the Fractional Order Proportional Integral Derivative (FOPID) algorithm is chosen in the scope of the study. The results for three test examples show the good performance of the ALPSOFV.     

Novel fuzzy fractional order PID controller for non linear interacting coupled spherical tank system for level process

In this paper, a novel Fuzzy Fractional Order Proportional Integral Derivative (FFOPID) controller is proposed to control the liquid level of Two Tank Spherical Interacting System (TTSIS). Spherical tanks are widely used in process industries due to its high storage capacity. These are non-linear due to its varying surface area with respect to its height and hence the level control of a spherical tank system is a challenging task. Fractional Order Proportional Integral Derivative (FOPID) controller is designed for a liquid level control of a spherical tank which is modelled as a fractional Order System. The performance indices such as rise time, settling time, peak time and peak overshoot are analysed for the proposed control scheme and compared to conventional controllers such as PI, PID, PID-SMC, FOPID. Moreover the time integral performance measures such as ITAE, IAE and ISE are analysed. Experimental results are shown to validate the obtained results with those of simulations. It has been proven that FFOPID outperforms all other existing techniques in terms of various time domain specifications and time integral performance measures.     

α稳定分布噪声下的空间时频DOA估计

当信号中存在α稳定分布噪声时,传统空间时频多重信号分类(STF-MUSIC)算法的空间波达方向(DOA)估计性能会降低甚至失效。为此,利用分数低阶矩(FLOM)代替二阶协方差矩阵,定义分数低阶矩空间时频分布矩阵(FLOM-STFDM)。对FLOM-STFDM进行特征分解,得到适用于稳定分布噪声环境的空间时频TF-FLOM-MUSIC算法,分析该算法的信噪比及误差估计,并给出算法实现步骤。仿真结果表明,TF-FLOM-MUSIC算法可有效降低DOA估计的均方误差,提高估计的分辨率和平滑性。     

非线性系统中稳定有色噪声建模及FLOC谱特性

用多项式自回归模型对非线性系统中稳定有色噪声建模,利用扩展的迭代重加权最小[p]范数算法进行模型参数估计。系统研究了分数低阶协方差谱的性质,并对无限方差非高斯多项式自回归有色噪声进行频域特性分析。理论分析和仿真实验表明,EIRLP算法是在高斯和分数低阶稳定分布噪声条件下具有良好韧性的参数估计方法。仿真通过对稳定有色噪声条件下的正弦信号进行谱估计,结果表明,分数低阶协方差谱具有良好韧性的谱估计性能。     

Performance analysis of fractional order fuzzy PID controllers applied to a robotic manipulator

A two-link robotic manipulator is a Multi-Input Multi-Output (MIMO), highly nonlinear and coupled system. Therefore, designing an efficient controller for this system is a challenging task for the control engineers. In this paper, the Fractional Order Fuzzy Proportional-Integral-Derivative (FOFPID) controller for a two-link planar rigid robotic manipulator for trajectory tracking problem is investigated. Robustness testing of FOFPID controller for model uncertainties, disturbance rejection and noise suppression is also investigated. To study the effectiveness of FOFPID controller, its performance is compared with other three controllers namely Fuzzy PID (FPID), Fractional Order PID (FOPID) and conventional PID. For tuning of parameters of all the controllers, Cuckoo Search Algorithm (CSA) optimization technique was used. Two performance indices namely Integral of Absolute Error (IAE) and Integral of Absolute Change in Controller Output (IACCO) having equal weightage for both the links are considered for minimization. Numerical simulation results clearly indicate the superiority of FOFPID controller over the other controllers for trajectory tracking, model uncertainties, disturbance rejection and noise suppression.     

An alternative characterization of weak order dependence

Control dependence forms the basis for many program analyses, such as program slicing. Recent work on control dependence analysis has led to new definitions of dependence that can allow for reactive programs with their necessarily non-terminating computations. One important such definition is the definition of Weak Order Dependence, which was introduced to generalize classical control dependence for a Control Flow Graph (CFG) without end nodes. In this paper we show that for a CFG where all nodes are reachable from each other, weak order dependence can be expressed in terms of traditional control dependence where one node has been converted into an end node.     

A memetic algorithm applied to trajectory control by tuning of Fractional Order Proportional-Integral-Derivative controllers

This paper introduces a novel memetic algorithm namely Fractional Particle Swarm Optimization-based Memetic Algorithm (FPSOMA) to solve optimization problem using fractional calculus concept. The FC illustrates a potential for interpreting progression of the algorithm by controlling its convergence. The FPSOMA accomplishes global search over the whole search space through PSO whereas local search is performed by PSO with fractional order velocity to alter the memory of best location of the particles. To assess the performance of the proposed algorithm, firstly an empirical comparison study is presented for solving different test functions adopted from literature. Comparisons demonstrate the preference of FPSOMA than other related algorithms. Subsequently, experiments are conducted to achieve optimal gains of Fractional Order Proportional-Integral-Derivative (FO PID) controller in solving tracking problem. Results verify the efficiency of the proposed algorithm.     

Linear fractional order controllers; A survey in the frequency domain

Today, there is a great tendency toward using fractional calculus to solve engineering problems. The control is one of the fields in which fractional calculus has attracted a lot of attention. On the one hand, fractional order dynamic models simulate characteristics of real dynamic systems better than integer order models. On the other hand, Fractional Order (FO) controllers outperform Integer Order (IO) controllers in many cases. FO-controllers have been studied in both time an frequency domain. The latter one is the fundamental tool for industry to design FO-controllers. The scope of this paper is to review research which has been carried out on FO-controllers in the frequency domain. In this review paper, the concept of fractional calculus and their applications in the control problems are introduced. In addition, basic definitions of the fractional order differentiation and integration are presented. Then, four common types of FO-controllers are briefly presented and after that their representative tuning methods are introduced. Furthermore, some useful continuous and discrete approximation methods of FO-controllers and their digital and analogue implementation methods are elaborated. Then, some Matlab toolboxes which facilitate utilizing FO calculus in the control field are presented. Finally, advantages and disadvantages of using FO calculus in the control area are discussed. To wrap up, this paper helps beginners to get started rapidly and learn how to select, tune, approximate, discretize, and implement FO-controllers in the frequency domain.     

Physical layer privacy scheme for networked control systems

Control systems in general and networked controls systems in particular are vulnerable to harmful noise effect and malicious cyber-attacks that may have devastated outcomes on sensitive applications. One approach to address these threats is to introduce a stringent security and privacy schemes that able to protect the attacked systems. This paper addresses this issue by proposing a privacy scheme, for feedback signals, stemmed from the well-known spread spectrum principle and the information system theory. In order to confirm the efficiency of the proposed scheme in offering a good level of control system privacy, a theoretical analysis is provided and supported by a simulation example introduced to one of the relatively weak control systems to noise and malicious attacks namely Higher Order Iterative Learning Control (HOILC).     

一种复杂系统的最优分数阶内模控制器设计

针对复杂系统提出了一种最优分数阶内模控制器设计方法。引入一种带混沌算子的人群搜索优化算法（Seeker Optimization Algorithm,SOA）将系统模型降阶简化,在此基础上完成了一种新的分数阶内模控制器的设计和参数最优整定。仿真结果表明,降阶模型很好地逼近了原系统,设计的控制器可以使系统具有良好的动态性能及克服参数变化的鲁棒性。     

改进的粒子群优化算法优化分数阶PID控制器参数

为了提高分数阶比例积分微分（FOPID）控制器的控制效果,针对FOPID控制器参数整定的范围广、复杂性高等特点,提出改进的粒子群优化（PSO）算法优化FOPID控制器参数的方法。该算法对PSO中惯权重系数的上下限设定范围并随迭代次数以伽玛函数方式非线性下降,同时粒子的惯性权重系数和学习因子根据粒子的适应度值大小动态调整,使粒子保持合理运动惯性和学习能力,提高粒子的自适应能力。仿真实验表明,改进的PSO算法优化FOPID控制器的参数较标准PSO算法具有收敛速度快和收敛精度高等优点,使FOPID控制器得到较优的综合性能。     

最小p范数准则α谱估计及载波频率检测

针对共变系数矩阵和分数低阶协方差矩阵估计ARSαS信号α谱精度不高的情况,提出了一种最小p范数准则的α谱估计方法。该方法对传统的奇异值分解（SVD）方法估计ARSαS信号模型最小阶数进行改进,得到一种分数低阶的奇异值分解方法（FLO-SVD）,然后利用最小p范数准则和IRLS算法求出信号模型参数,用于作α谱估计。应用于脉冲噪声环境下的QPSK信号的仿真表明,改进后的方法对α谱有更好的估计,对载波频率有更准确的检测性能。     

Using control theory to optimise profit in APVIOBPCS inventory systems

This paper describes an investigation of the effects on the variation of profitability with time caused by the choice of control formulation in a model for an Automatic Pipeline, Variable Inventory and Order Based Production Control System (APVIOBPCS) production system. The improvements are demonstrated using an example of electronic RAM production used by Deif and ElMaraghy [26]. The investigation using a SIMULINK™ model, includes varying the “order up to inventory” values, and “work in progress” values (WIP).     

Hysteresis-controlled - landsman converter based multilevel inverter fed induction-motor system using PIC

This paper deals with Landsman Converter (LC) based Multilevel Inverter (MLI) fed induction motor. This work proposes Landsman converter between DC-source &inverter. This effort considers closed loop response of Landsman-converter-multilevel-inverter-system (LCMLI) with PI, Fractional Order PID controller (FOPID), Proportional Resonant (PR) &Hysteresis Controller (-HC). The-purpose of the recommended-converter-system is to compare response of two loop-PI, FOPID, and PR&PI-HC-controlled-LCMLI-systems. MATLAB simulation results clearly illustrated an improved dynamic performance by the proposed Hysteresis-controlled-LCMLI-system. The experimental-outcomes of LCMLI -system are compared with those of simulation-ones.     

稳定分布噪声环境下的EEG-MUSIC源定位

EEG作为一种无损的新医学技术近几年已经被广泛地研究,EEG-MUSIC是一种基于EEG的脑源病灶空间定位算法,它只能在高斯噪声下工作。特殊情况下的脑电传感器阵列数据中可能伴有一种强脉冲噪声,这种噪声可以用α稳定分布描述。稳定分布噪声环境下,传统的EEG-RAP-MUSIC失效。为此用FLOM矩阵代替自相关矩阵,提出了一种适合稳定分布噪声环境的脑源定位新方法FLOM-EEG-RAP-MUSIC。计算机仿真表明,所提出的方法能较好地在稳定分布噪声环境下工作,具有一定的鲁棒性。     

Improved torque performance in BLDC-motor-drive through Jaya optimization implemented on Xilinx platform

Robust dynamic speed response with less maintenance and efficient operation makes the Brushless Direct Current (BLDC) motors as an oblivious choice for many motoring applications which needs instantaneous speed control while developing high torque. This paper proposes Jaya optimization Algorithm on Xilinx platform for BLDC Motor and Fractional Order Proportional Integral Derivative controller to improve its efficiency through minimizing the ripples present in the Torque of the motor. The control strategy of torque controller works with the combinations of Xilinx and optimization algorithms. In this proposed controller, the strategy of control is achieved after deriving the BLDC motor's dynamic mode there after the electronic interaction with BLDC motor is enrooted with the Math lab/Simulink model while tactically utilizing Xilinx tools for all kind of co-simulation in the same model. Initially the dynamic model of a BLDC motor drive is derived and the control topology is designed with the help of the proposed controller. The controlling mechanism established in this paper is effective and efficient in minimizing the ripples present in the torque of the motor. The proposed controller is utilized for possible low-cost and high-performance industrial applications. The results are obtained and analyzed with existing methodologies and it shows that the proposed technique outperforms the existing models.     

A second order sliding mode control design of a switched reluctance motor using super twisting algorithm

A novel robust technique for speed control application of variable reluctance motor is proposed. The suggested scheme is model based and uses a mathematical model of an SR motor, and Second Order Sliding Mode Control (SOSMC) with super-twisting algorithm. Sliding mode controllers for SR motor were reported before but super twisting SOSMC have an added advantage of reduced chattering which is one of the main focuses of this work. The proposed controller gives fast dynamic response with no overshoot and nearly zero steady state error. The effectiveness of the proposed controller and its robustness to parameter variations is also confirmed by simulation results.     

位置伺服系统二阶滑模控制

变结构控制以其独特的优点和特性引起了众多学者的广泛重视,已由传统的滑模控制发展到高阶滑模控制。高阶滑模控制不仅保留了传统滑模控制的所有优点,而且消除了颤震。变结构控制在位置伺服系统中的应用已经取得了长足的进步,探讨高阶滑模在位置伺服系统中的应用对于解决实际系统中的颤震问题具有深刻的意义。该文简要介绍了高阶滑模控制技术,并将二阶滑模控制应用与位置伺服系统中,理论分析与仿真结果都表明了使用二阶滑模控制器控制直流伺服电机的可行性。     

分数低阶时频滑动平均模型参数估计

针对稳定分布环境下非平稳过程分析方法时频滑动平均（TFMA）模型算法的退化,引入分数低阶统计量共变,提出了一种改进的分数低阶时频时频滑动平均（FLO-TFMA）模型算法。推导了FLO-TFMA模型的参数求解过程,给出了基于FLO-TFMA模型的时频谱估计。通过在稳定分布环境下对TFMA模型算法和所提出的FLO-TFMA模型算法的参数估计均方误差（MSE）比较和时频谱估计比较,仿真结果表明,FLO-TFMA模型算法的参数估计精度优于TFMA模型算法,TFMA模型时频谱估计完全失效,而FLO-TFMA模型时频谱算法能较好地进行时频谱估计。