Title: Design of MIMO QFT fractional control based on intelligent fractional PIαDμ controller combined with decentralised and centralised FBLFD pre-filter: application to SCARA robot
Authors: Asma Aribi; Najah Yousfi-Allagui; Nabil Derbel
Addresses: Engineering College, Taif University, Taif, Makkah, Saudi Arabia; Research Laboratory Modelling, Analysis and Control of Systems (MACS), University of Gabes, 6029 Gabes, Tunisia ' Engineering College, Taif University, Taif, Makkah, Saudi Arabia; Laboratory of Control and Energy Management (CEM), Sfax University, 3038 Sfax, Tunisia ' Laboratory of Control and Energy Management (CEM), Sfax University, 3038 Sfax, Tunisia
Abstract: The aim of this paper is to propose new robust controls for multivariable parametric uncertain systems and to validate their efficiency in robots path tracking. An automated fractional multivariable Quantitative Feedback Theory is developed. The principle is to obtain desired performances on the basis of controllers and pre filters without using loop shaping process. The proposed approach has benefited from the robustness of fractional control. Indeed, the method is based on a combination of intelligent fractional PIαDμ controller with both diagonal and non-diagonal Frequency Band Limited Fractional Differentiator. A bi-objective optimisation based on genetic algorithm is utilised to find the controller parameters. The developed methodologies are applied to a SCARA robot model and the findings highlight the robustness of the designed controller and the success of the diagonal pre-filter to eliminate loop interactions.
Keywords: FBLFD pre-filter; fractional controller; bi-objective optimisation; multivariable systems; path tracking; quantitative feedback theory; SCARA robot.
International Journal of Computer Applications in Technology, 2020 Vol.64 No.3, pp.269 - 281
Received: 25 Mar 2020
Accepted: 20 Jun 2020
Published online: 16 Dec 2020 *