Fractional-order PID Control Method for Space Teleoperation

被引：0

作者：

Shi, Zhong ^{[1
]}

Huang, Xuexiang ^{[1
]}

Tan, Qian ^{[1
]}

Hu, Tianjian ^{[1
]}

机构：

[1] Beijing Inst Tracking & Telecommun Technol, Beijing, Peoples R China

来源：

2015 1ST IEEE INTERNATIONAL CONFERENCE ON MULTIMEDIA BIG DATA (BIGMM) | 2015年

关键词：

space teleoperation; fractional-order PID control; stability domain of controller parameters; D-decomposition method;

D O I：

10.1109/BigMM.2015.28

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Conventional PID control method has difficulty in considering both overshoot and settling time, so it cannot meet the requirement of "more careful and more flexible" for space teleoperation. Aiming at this problem, this paper designs fractional-order PID (FOPID) controller for space teleoperation, and tunes the parameters of FOPID based on its stability domain directing at the space teleoperation time delay system. Finally, computer simulation results show that the FOPID control system has better tracking performance comparing to the conventional PID control system for space teleoperation. Also, according to the simulation results, FOPID is suitable for space teleoperation system because of its good anti-interference capabilities and robustness.

引用

页码：216 / 219

页数：4

共 9 条

[1]

DUBOWSKY S, 1994, IROS '94 - INTELLIGENT ROBOTS AND SYSTEMS: ADVANCED ROBOTIC SYSTEMS AND THE REAL WORLD, VOLS 1-3, P1562, DOI 10.1109/IROS.1994.407647

[2] An algorithm for stabilization of fractional-order time delay systems using fractional-order PID controllers [J].

Hamamci, Serdar Ethem .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2007, 52 (10) :1964-1969

[3]

Hu Tianjian, 2011, P 3 INT C INF EL COM, V1, P315

[4]

HU TJ, 2012, ERROR FEEDBACK CONTR, V29, P1142, DOI DOI 10.1016/J.PROENG.2012.01.102

[5] On fractional PIλ controllers:: Some tuning rules for robustness to plant uncertainties [J].

Monje, CA ;

Calderon, AJ ;

Vinagre, BM ;

Chen, YQ ;

Feliu, V .

NONLINEAR DYNAMICS, 2004, 38 (1-4) :369-381

[6]

PETRAS I, 2004, FRACTIONAL ORDER CON

[7] Fractional-order systems and PI-λ-D-μ-controllers [J].

Podlubny, I .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1999, 44 (01) :208-214

[8] SPACE TELEOPERATION THROUGH TIME-DELAY - REVIEW AND PROGNOSIS [J].

SHERIDAN, TB .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1993, 9 (05) :592-606

[9]

Zhu Cheng-xiang, 2009, Control and Decision, V24, P161

← 1 →