The proposed work investigates the influence of the discrete-time approximation in the digital implementation of the PII1/2DD1/2 control of a mechatronic axis. The most widespread approach to apply Fractional Calculus to position control is the PIλDµ scheme, in which the integral and the derivative of the error have respectively non-integer orders λ and µ. The PII1/2DD1/2 scheme is an alternative approach in which an integral and a derivative of order 1/2 are added to the first-order ones instead of replacing it. The exact calculation of derivatives and integrals of non-integer order requires to consider the whole time history of the signal, which is unfeasible for real-time computation. Consequently, a discrete-time approximation comprising a digital filter with finite order, sampling time and time window needs to be adopted. This paper discusses the influence of the main digital filter parameters on the dynamic performance of the PII1/2DD1/2 control of a rotary mechatronic axis.
Fractional-Order PII1/2DD1/2 Control of a Mechatronic Axis: Influence of the Discrete-Time Approximation of the Half-Order Derivative and Integral
Mechan. Machine Science
International Conference on Robotics in Alpe-Adria Danube Region ; 2022 ; Klagenfurt, Austria June 08, 2022 - June 10, 2022
23.04.2022
8 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Fractional-Order PII1/2DD1/2 Control: Theoretical Aspects and Application to a Mechatronic Axis
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