Fractional-Order Control of a Micrometric Linear Axis
This paper discusses the application of a particular fractional-order control scheme, the PDD1/2, to the position control of a micrometric linear axis. The PDD1/2 scheme derives from the classical PD scheme with the introduction of the half-derivative term. The PD and PDD1/2 schemes are compared by...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2013-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2013/947428 |
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| Summary: | This paper discusses the application of a particular fractional-order control scheme, the PDD1/2, to the position control of a micrometric linear axis. The PDD1/2 scheme derives from the classical PD scheme with the introduction of the half-derivative term. The PD and PDD1/2 schemes are compared by adopting a nondimensional approach for the sake of generality. The linear model of the closed-loop system is discussed by analysing the pole location in the σ-plane. Then, different combinations of the derivative and half-derivative terms, characterized by the same settling energy in the step response, are experimentally compared in the real mechatronic application, with nonnegligible friction effects and a position set point with trapezoidal speed law. The experimental results are coherent with the nonlinear model of the controlled system and confirm that the introduction of the half-derivative term is an interesting option for reducing the tracking error in the transient state. |
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| ISSN: | 1687-5249 1687-5257 |