Quite recently, fractional approaches was greatly used in control engineering area. Several methodologies based on fractional controllers tuning has been treated. In this work, a multi-input multi-output (MIMO) quantitative feedback theory (QFT) method is mixed with a fractional order PD\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$^{\mu }$$\end{document} controller and a fractional prefilter to govern multivariable systems. Each obtained sub-systems from the MIMO QFT technique is controlled independently. A new analytic tuning method of fractional order controller is developed in the aim to ensure stability and robustness. After the controller tuning a fractional order prefilter is designed and optimized to reach the desired performances. The proposed method effectiveness will be tested and evaluated based on a real robot model.


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    Title :

    Tuning of Fractional Order Controller and Prefilter in MIMO Robust Motion Control: SCARA Robot


    Additional title:

    Studies in Systems, Decision and Control


    Contributors:


    Publication date :

    2020-02-12


    Size :

    16 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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