Search results for "Fractional-order control"
showing 2 items of 2 documents
A Fractional-Order Control Approach to Ramp Tracking with Memory-Efficient Implementation
2020
We investigate the fractional-order (FO) control of arbitrary order LTI systems. We show that, for ramp tracking or input disturbance rejection, it is advantageous to include an FO integrator to the open-loop if we have to increase the order of integration further than one. With the lower phase-loss of the FO integrator it is easier to guarantee a desired phase margin. Furthermore the flat phase response around the crossover-frequency (iso-damping property) can be achieved for a wider frequency range such that the closed-loop is more robust wrt. amplitude and phase margins. The drawback of the FO approach is the increased implementation effort and the algebraic decay, which slows down the t…
Improved Performance in Quadrotor Trajectory Tracking Using MIMO PIλ-D Control
2022
This paper aims to develop a fractional control approach for quadrotor trajectory tracking. A fractional-order integrator (PIλ) with a feedback derivative scheme is designed to control each state of the MIMO system. The designed feedback controller stabilizes the initially unstable decoupled states and widens the stability, while PIλ provides precise trajectory tracking capabilities. After a successful simulation study, the new PIλ-D controller is implemented in the hardware environment. The various performance and load disturbance analyses reveal the effectiveness of the proposed scheme compared with the classical PD/PID controllers. The real-time study also shows that this scheme is a sim…