Robust Motion Control Using Combined Centralized Non-Integer Pre-Filter of Type FBLFD and Fractional Order Pdµ Controller
Najah Yousfi1, Nabil Derbel2, Pierre Melchior3, Hamed Almalki4
1Najah Yousfi*, Industrial Engineering Program, College of Engineering, Taif University, Taif, Saudi Arabia, Laboratory of Control & Energy Management CEM, University of Sfax, Sfax, Tunisia.
2Nabil Derbel, Laboratory of Control & Energy Management CEM, University of Sfax, Sfax, Tunisia..
3Pierre Melchior, IMS, LAPS Department, Cours de la linération, Bat, A4, Bordeaux, France.
4Hamed Almalki, Industrial Engineering Program, College of Engineering, Taif University, Taif, Saudi Arabia.
Manuscript received on November 15, 2019. | Revised Manuscript received on 23 November, 2019. | Manuscript published on December 10, 2019. | PP: 3463-3473 | Volume-9 Issue-2, December 2019. | Retrieval Number: B6495129219/2019©BEIESP | DOI: 10.35940/ijitee.B6495.129219
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© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC-BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: Designing and automation of a robust controller and pre-filter for multi-variable processes are a very challenging task. In this study, an automated and simple conception of multi variable QFT (QFT: Quantitative Feedback Theory) is proposed using fractional order controllers design. Contrary to the traditional manual QFT design, our methodology consists of obtaining all required performances in QFT without going to the QFT loop shaping process. A non-integer order proportional derivative controller PDµ is conceived for a robust control of MIMO (Multi Input Multi Out- put) systems through multi-objective optimization based genetic algorithm . In the designed approach an implicit fractional order pre-filter FBLFD (FBLFD : Frequency Band Limited Fractional Differentiator) is adopted and its parameters are optimized. A diagonal version of this fractional order pre-filter and a non diagonal one are proposed. The problem of loop interactions is eliminated by the non diagonal designed pre-filter. Consequently, the procedure of fractional controller and pre-filter parameters optimization is illustrated. A comparative study and the efficiency of the developed methodologies are considered through SCARA robot.
Keywords: FBLFD Pre-filter, Fractional order Controller, Multivariable Systems, Motion control.
Scope of the Article: Industrial Engineering