The variable, fractional-order discrete-time PD controller in the IISv1.3 robot arm control

In this paper, the discrete differentiation order functions of the variable, fractional-order PD controller (VFOPD) are considered. In the proposed VFOPD controller, a variable, fractional-order backward difference is applied to perform closed-loop, system error, discrete-time differentiation. The c...

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Bibliographic Details
Published in:Central European journal of physics 2013-06, Vol.11 (6), p.750-759
Main Authors: Ostalczyk, Piotr, Brzezinski, Dariusz W., Duch, Piotr, Łaski, Maciej, Sankowski, Dominik
Format: Article
Language:English
Subjects:
Biological and Medical Physics
Biophysics
computational techniques
Environmental Physics
general theory of classical mechanics of discrete systems
Geophysics/Geodesy
numerical simulation
Physical Chemistry
Physics
Physics and Astronomy
Research Article
simulations
solution of equations
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Summary:In this paper, the discrete differentiation order functions of the variable, fractional-order PD controller (VFOPD) are considered. In the proposed VFOPD controller, a variable, fractional-order backward difference is applied to perform closed-loop, system error, discrete-time differentiation. The controller orders functions which may be related to the controller input or output signal or an input and output signal. An example of the VFOPD controller is applied to the robot arm closed-loop control due to system changes in moment of inertia. The close-loop system step responses are presented.
ISSN:1895-1082
2391-5471
1644-3608
2391-5471
DOI:10.2478/s11534-013-0254-9