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Fractional Order Motion Controls

Fractional Order Motion Controls

Ying Luo (Original Author), Yang Chen (Original Author)

ISBN: 978-1-119-94455-3

Dec 2012

454 pages

In Stock

$159.95

Description

Covering fractional order theory, simulation and experiments, this book explains how fractional order modelling and fractional order controller design compares favourably with traditional velocity and position control systems. The authors systematically compare the two approaches using applied fractional calculus. Stability theory in fractional order controllers design is also analysed.

  •  Presents material suitable for a variety of real-world applications, including hard disk drives, vehicular controls, robot control and micropositioners in DNA microarray analysis
  • Includes extensive experimental results from both lab bench level tests and industrial level, mass-production-ready implementations
  • Covers detailed derivations and numerical simulations for each case
  • Discusses feasible design specifications, ideal for practicing engineers

The book also covers key topics including: fractional order disturbance cancellation and adaptive learning control studies for external disturbances; optimization approaches for nonlinear system control and design schemes with backlash and friction. Illustrations and experimental validations are included for each of the proposed control schemes to enable readers to develop a clear understanding of the approaches covered, and move on to apply them in real-world scenarios.

PART I FUNDAMENTALS OF FRACTIONAL CONTROLS

1 Introduction 3

PART II FRACTIONAL ORDER VELOCITY SERVO

2 Fractional Order PI Controller Designs for Velocity Servo Systems 25

3 Tuning Fractional Order PI Controllers for Fractional Order Velocity

Systems with Experimental Validation 41

4 Relay Feedback Tuning of Robust PID Controllers 59

5 Auto-Tuning of Fractional Order Controllers with Iso-Damping 73

PART III FRACTIONAL ORDER POSITION SERVO

6 Fractional Order PD Controller Tuning for Position Systems 91

7 Fractional Order [PD] Controller Synthesis for Position Servo

Systems 105

8 Time-Constant Robust Analysis and Design of Fractional Order

[PD] Controller 123

9 Experimental Study of Fractional Order PD Controller Synthesis for Fractional Order Position Servo Systems 139

10 Fractional Order [PD] Controller Design and Comparison for Fractional Order Position Servo Systems 155

PART IV STABILITY AND FEASIBILITY FOR FOPID DESIGN

11 Stability and Design Feasibility of Robust PID Controllers for FOPTD Systems 165

12 Stability and Design Feasibility of Robust FOPI Controllers for FOPTD Systems 187

PART V FRACTIONAL ORDER DISTURBANCE COMPENSATORS

13 Fractional Order Disturbance Observer 211

14 Fractional Order Adaptive Feed-forward Cancellation 223

15 Fractional Order Robust Control for Cogging Effect 243

16 Fractional Order Periodic Adaptive Learning Compensation 275

PART VI EFFECTS OF FRACTIONAL ORDER CONTROLS ON NONLINEARITIES

17 Fractional Order PID Control of A DC-Motor with Elastic Shaft 293

18 Fractional Order Ultra Low-Speed Position Servo 313

19 Optimized Fractional Order Conditional Integrator 329

PART VII FRACTIONAL ORDER CONTROL APPLICATIONS

20 Lateral Directional Fractional Order Control of A Small Fixed-Wing UAV 345

21 Fractional Order PD Controller Synthesis and Implementation for HDD Servo System 369