Experimental Validation of a Novel Auto-Tuning Method for a Fractional Order PI Controller on an UR10 Robot

Experimental Validation of a Novel Auto-Tuning Method for a Fractional Order PI Controller on an UR10 Robot

Classical fractional order controller tuning techniques usually consider the frequency domain specifications (phase margin, gain crossover frequency, iso-damping) and are based on knowledge of a process model, as well as solving a system of nonlinear equations to determine the controller parameters....

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Bibliographic Details
Main Authors: Cristina I. Muresan, Cosmin Copot, Isabela Birs, Robin De Keyser, Steve Vanlanduit, Clara M. Ionescu
Format: Article
Language:English
Published: MDPI AG 2018-06-01
Series:Algorithms
Subjects:
fractional order control
auto-tuning method
robustness
experimental validation
robot
Online Access:http://www.mdpi.com/1999-4893/11/7/95

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http://www.mdpi.com/1999-4893/11/7/95

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