Enhanced Performance in Trajectory Tracking of a Ball and Plate System using Fractional Order Controller

被引：19
作者：
Borah, Manashita [1 ,2 ]
Roy, Prasanta [1 ]
Roy, Binoy Krishna [1 ]
机构：
[1] NIT Silchar, Dept Elect Engn, Silchar, Assam, India
[2] Tezpur Univ, Dept Elect Engn, Tezpur, Assam, India
来源：
IETE JOURNAL OF RESEARCH | 2018年 / 64卷 / 01期
关键词：
Ball and plate system; Bat algorithm; Firefly algorithm; Fractional order PD; Gravitational search algorithm; Trajectory tracking; STABILIZATION; OPTIMIZATION; SCHEME;
D O I：
10.1080/03772063.2017.1343157
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This paper presents a comparative analysis of performance between integer order proportional derivative (IOPD) and fractional order proportional derivative (FOPD) controllers for the trajectory tracking of a ball in ball and plate system. The controllers are designed minimising integral square error using Bat Algorithm, Gravitational Search Algorithm, and Firefly Algorithm. Effectiveness of the controllers is tested by the ability of the ball to track a circular, square, cardioid, and star shaped trajectories. Results verify that FOPD outperforms IOPD when tuned by the same algorithm. Comparisons with reported works show that the proposed controllers provide fairly improved results.
引用
收藏
页码：76 / 86
页数：11
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