{"title":"Data-Driven Robust Servo Tuning Method Using Fractional-Order PID Controller","authors":"","doi":"10.1016/j.ifacol.2024.08.101","DOIUrl":null,"url":null,"abstract":"<div><p>This paper proposes a data-driven method using a Fractional-Order Proportional-Integral-Derivative (FOPID) controller. The proposed method simultaneously obtains FOPID controller and reference model parameters to achieve tracking performance and specified robust stability from only one-shot closed-loop input-output data. The proposed control law is designed by solving an optimization problem, subject to the constraint condition of using the maximum value of the sensitivity function. Therefore, the proposed method provides trade-off design between tracking performance for the reference input and robust stability by selecting robust stability. By comparing numerical example results obtained for FOPID and integer-order controllers, it is shown that the use of the FOPID controller is effective in improving tracking performance for reference output.</p></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2024-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S240589632400822X/pdf?md5=04ea32d4a6493d5ab59e8266a2fc1df2&pid=1-s2.0-S240589632400822X-main.pdf","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IFAC-PapersOnLine","FirstCategoryId":"1085","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S240589632400822X","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"Engineering","Score":null,"Total":0}
引用次数: 0
Abstract
This paper proposes a data-driven method using a Fractional-Order Proportional-Integral-Derivative (FOPID) controller. The proposed method simultaneously obtains FOPID controller and reference model parameters to achieve tracking performance and specified robust stability from only one-shot closed-loop input-output data. The proposed control law is designed by solving an optimization problem, subject to the constraint condition of using the maximum value of the sensitivity function. Therefore, the proposed method provides trade-off design between tracking performance for the reference input and robust stability by selecting robust stability. By comparing numerical example results obtained for FOPID and integer-order controllers, it is shown that the use of the FOPID controller is effective in improving tracking performance for reference output.
期刊介绍：
All papers from IFAC meetings are published, in partnership with Elsevier, the IFAC Publisher, in theIFAC-PapersOnLine proceedings series hosted at the ScienceDirect web service. This series includes papers previously published in the IFAC website.The main features of the IFAC-PapersOnLine series are: -Online archive including papers from IFAC Symposia, Congresses, Conferences, and most Workshops. -All papers accepted at the meeting are published in PDF format - searchable and citable. -All papers published on the web site can be cited using the IFAC PapersOnLine ISSN and the individual paper DOI (Digital Object Identifier). The site is Open Access in nature - no charge is made to individuals for reading or downloading. Copyright of all papers belongs to IFAC and must be referenced if derivative journal papers are produced from the conference papers. All papers published in IFAC-PapersOnLine have undergone a peer review selection process according to the IFAC rules.
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