Abstract
Quite recently, fractional approaches was greatly used in control engineering area. Several methodologies based on fractional controllers tuning has been treated. In this work, a multi-input multi-output (MIMO) quantitative feedback theory (QFT) method is mixed with a fractional order PD\(^{\mu }\) controller and a fractional prefilter to govern multivariable systems. Each obtained sub-systems from the MIMO QFT technique is controlled independently. A new analytic tuning method of fractional order controller is developed in the aim to ensure stability and robustness. After the controller tuning a fractional order prefilter is designed and optimized to reach the desired performances. The proposed method effectiveness will be tested and evaluated based on a real robot model.
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Allagui, M., Yousfi, N., Derbel, N., Melchior, P. (2020). Tuning of Fractional Order Controller and Prefilter in MIMO Robust Motion Control: SCARA Robot. In: Ghommam, J., Derbel, N., Zhu, Q. (eds) New Trends in Robot Control. Studies in Systems, Decision and Control, vol 270. Springer, Singapore. https://doi.org/10.1007/978-981-15-1819-5_1
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