Path tracking design based on Frequency-Band Limited Fractional Differentiator with speed and acceleration input
A new approach to path tracking based on fractional prefilter was developed in this paper. In previous works, this approach based on a Frequency Band Limited Fractional Differentiator (FBLFD) prefilter, with the position control, has been presented. It permits the generation of optimal movement reference input leading to a minimum path completion time and it generates a maximal control signal, while applying the reference input, taking into account physical actuators constraints (Velocity, acceleration and jerk). In this work, an extension of this method is described. It consists on a path tracking using fractional differentiation by direct optimization of an I/O transfer function with the control of the speed and the acceleration. Fractional differentiation has been used through a frequency band-limited fractional differentiator (FBLFD) prefilter for which main properties don’t have any overshoot on the plant and they have maximum control value for the starting time. A simulation on a motor model validates the methodology.
Path Tracking Fractional Calculus Motion control DC Filter FBLFD Filter.
Pierre MELCHIOR Najah YOUSFI Chokri REKIK Nabil DERBEL Alain OUSTALOUP
IMS (UMR 5218 CNRS, Université Bordeaux 1 - ENSEIRB - ENSCPB)Département LAPS 351 cours de la Libera Research unit on Intelligent Control, design & Optimization of complex Systems (ICOS)University of S IMS (UMR 5218 CNRS, Université Bordeaux 1 - ENSEIRB - ENSCPB) Département LAPS 351 cours de la Liber
国际会议
The Fifth Symposium on Fractional Differentiation and Its Applications(第五届国际自动控制联合会分数阶导数及其应用会议)
南京
英文
1-7
2012-05-14（万方平台首次上网日期，不代表论文的发表时间）