Fractional control and robustness analysis of an inverted pendulum system

J. Viola; L. Angel

doi:10.1109/CCAC.2015.7345223

Fractional control and robustness analysis of an inverted pendulum system

Producción científica: Capítulo del libro/informe/acta de congreso › Ponencia publicada en las memorias del evento con ISBN › revisión exhaustiva

4 Citas (Scopus)

Resumen

This paper presents the identification, control and analysis of robustness in a robotic system using a fractional PID controllers. First, a model of ADAMS-MATLAB co-simulation is built to simulate the robotic system. Second, the identification of the dynamic-model parameters from the robotic system employs the recursive least-squares method. A linearized model of the robotic system is obtained by the input-output linearization method, which is used for tuning the fractional PID and classic PID controllers. Third, the controller's robustness is analyzed in the frequency domain, which uses the sensibility, complementary sensibility, sensibility of the plant and sensibility of the controller effort as robustness indicators. Finally, the results show that the fractional PID controller has a better behavior in presence of external disturbances and lower energy consumption.

Idioma original	Inglés
Título de la publicación alojada	2015 IEEE 2nd Colombian Conference on Automatic Control, CCAC 2015 - Conference Proceedings
Editores	Gustavo Adolfo Osorio
Editorial	Institute of Electrical and Electronics Engineers Inc.
ISBN (versión digital)	9781467393058
DOI	https://doi.org/10.1109/CCAC.2015.7345223
Estado	Publicada - 2 dic. 2015
Evento	2nd IEEE Colombian Conference on Automatic Control, CCAC 2015 - Manizales, Colombia Duración: 14 oct. 2015 → 16 oct. 2015

Serie de la publicación

Nombre	2015 IEEE 2nd Colombian Conference on Automatic Control, CCAC 2015 - Conference Proceedings

Conferencia

Conferencia	2nd IEEE Colombian Conference on Automatic Control, CCAC 2015
País/Territorio	Colombia
Ciudad	Manizales
Período	14/10/15 → 16/10/15

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© 2015 IEEE.

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Viola, J., & Angel, L. (2015). Fractional control and robustness analysis of an inverted pendulum system. En G. A. Osorio (Ed.), 2015 IEEE 2nd Colombian Conference on Automatic Control, CCAC 2015 - Conference Proceedings Artículo 7345223 (2015 IEEE 2nd Colombian Conference on Automatic Control, CCAC 2015 - Conference Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCAC.2015.7345223

Viola, J. ; Angel, L. / Fractional control and robustness analysis of an inverted pendulum system. 2015 IEEE 2nd Colombian Conference on Automatic Control, CCAC 2015 - Conference Proceedings. editor / Gustavo Adolfo Osorio. Institute of Electrical and Electronics Engineers Inc., 2015. (2015 IEEE 2nd Colombian Conference on Automatic Control, CCAC 2015 - Conference Proceedings).

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title = "Fractional control and robustness analysis of an inverted pendulum system",

abstract = "This paper presents the identification, control and analysis of robustness in a robotic system using a fractional PID controllers. First, a model of ADAMS-MATLAB co-simulation is built to simulate the robotic system. Second, the identification of the dynamic-model parameters from the robotic system employs the recursive least-squares method. A linearized model of the robotic system is obtained by the input-output linearization method, which is used for tuning the fractional PID and classic PID controllers. Third, the controller's robustness is analyzed in the frequency domain, which uses the sensibility, complementary sensibility, sensibility of the plant and sensibility of the controller effort as robustness indicators. Finally, the results show that the fractional PID controller has a better behavior in presence of external disturbances and lower energy consumption.",

keywords = "ADAMS-MATLAB Co-simulation, FOPID controller, Feedback linearization, Robustness analysis",

author = "J. Viola and L. Angel",

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 2nd IEEE Colombian Conference on Automatic Control, CCAC 2015 ; Conference date: 14-10-2015 Through 16-10-2015",

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Viola, J & Angel, L 2015, Fractional control and robustness analysis of an inverted pendulum system. En GA Osorio (ed.), 2015 IEEE 2nd Colombian Conference on Automatic Control, CCAC 2015 - Conference Proceedings., 7345223, 2015 IEEE 2nd Colombian Conference on Automatic Control, CCAC 2015 - Conference Proceedings, Institute of Electrical and Electronics Engineers Inc., 2nd IEEE Colombian Conference on Automatic Control, CCAC 2015, Manizales, Colombia, 14/10/15. https://doi.org/10.1109/CCAC.2015.7345223

Fractional control and robustness analysis of an inverted pendulum system. / Viola, J.; Angel, L.
2015 IEEE 2nd Colombian Conference on Automatic Control, CCAC 2015 - Conference Proceedings. ed. / Gustavo Adolfo Osorio. Institute of Electrical and Electronics Engineers Inc., 2015. 7345223 (2015 IEEE 2nd Colombian Conference on Automatic Control, CCAC 2015 - Conference Proceedings).

Producción científica: Capítulo del libro/informe/acta de congreso › Ponencia publicada en las memorias del evento con ISBN › revisión exhaustiva

TY - GEN

T1 - Fractional control and robustness analysis of an inverted pendulum system

AU - Viola, J.

AU - Angel, L.

PY - 2015/12/2

Y1 - 2015/12/2

N2 - This paper presents the identification, control and analysis of robustness in a robotic system using a fractional PID controllers. First, a model of ADAMS-MATLAB co-simulation is built to simulate the robotic system. Second, the identification of the dynamic-model parameters from the robotic system employs the recursive least-squares method. A linearized model of the robotic system is obtained by the input-output linearization method, which is used for tuning the fractional PID and classic PID controllers. Third, the controller's robustness is analyzed in the frequency domain, which uses the sensibility, complementary sensibility, sensibility of the plant and sensibility of the controller effort as robustness indicators. Finally, the results show that the fractional PID controller has a better behavior in presence of external disturbances and lower energy consumption.

AB - This paper presents the identification, control and analysis of robustness in a robotic system using a fractional PID controllers. First, a model of ADAMS-MATLAB co-simulation is built to simulate the robotic system. Second, the identification of the dynamic-model parameters from the robotic system employs the recursive least-squares method. A linearized model of the robotic system is obtained by the input-output linearization method, which is used for tuning the fractional PID and classic PID controllers. Third, the controller's robustness is analyzed in the frequency domain, which uses the sensibility, complementary sensibility, sensibility of the plant and sensibility of the controller effort as robustness indicators. Finally, the results show that the fractional PID controller has a better behavior in presence of external disturbances and lower energy consumption.

KW - ADAMS-MATLAB Co-simulation

KW - FOPID controller

KW - Feedback linearization

KW - Robustness analysis

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DO - 10.1109/CCAC.2015.7345223

M3 - Ponencia publicada en las memorias del evento con ISBN

AN - SCOPUS:84960449391

T3 - 2015 IEEE 2nd Colombian Conference on Automatic Control, CCAC 2015 - Conference Proceedings

BT - 2015 IEEE 2nd Colombian Conference on Automatic Control, CCAC 2015 - Conference Proceedings

A2 - Osorio, Gustavo Adolfo

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2nd IEEE Colombian Conference on Automatic Control, CCAC 2015

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Viola J, Angel L. Fractional control and robustness analysis of an inverted pendulum system. En Osorio GA, editor, 2015 IEEE 2nd Colombian Conference on Automatic Control, CCAC 2015 - Conference Proceedings. Institute of Electrical and Electronics Engineers Inc. 2015. 7345223. (2015 IEEE 2nd Colombian Conference on Automatic Control, CCAC 2015 - Conference Proceedings). doi: 10.1109/CCAC.2015.7345223

Fractional control and robustness analysis of an inverted pendulum system

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