Session: MESA-14-01 Fractional Derivatives and Their Applications: Applications

Paper Number: 72405

Start Time: August 17, 03:20 PM

72405 - Digital Tiwn-Based Fractional Order Controller Optimization for Industrial Robot 

Nowadays, fractional order control becomes one of the most important technologies for enabling future control work in various fields. There are two kinds of parameter optimization for fractional order controller at present: frequency domain design method and time domain optimization algorithm. In this paper, we focus on the time domain optimization algorithm, therefore a practical and systematic tuning procedure for fractional order controller using particle swarm algorithm (PSO) based on digital twin (DT) of industrial robot has been developed. The procedure includes the virtual realization of control system based on digital twin concept. Then a particle swarm algorithm is introduced to optimize the five parameters of the cascade fractional order PI-PI^{\lambda} controller. The optimization procedure using particle swarm algorithm based on digital twin concept is also presented. Finally, simulations are performed based on the virtual industrial robot model of digital twin, which show the suitability of the digital twin-based optimization procedure. And the effectiveness of using the cascade fractional order PI-PI controller compared to the cascade integer order PI-PI controller is also demonstrated by the simulation results, in which the cascade fractional order PI-PI^{\lambda} controller response faster and the maximum absolute error is lower when a given referenc trajectory is applied.

Presenting Author: Xuan Liu Huazhong University of Science and Technology

Authors:

Pengchong Chen Huazhong University of Science and Technology
Xuan Liu Huazhong University of Science and Technology
Ying Luo Huazhong University of Science and Technology