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2013 | 11 | 6 | 702-713

Article title

Tuning fractional PID controllers for a Steward platform based on frequency domain and artificial intelligence methods


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In this paper, two methods to tune a fractional-order PI
μ controller for a mechatronic system are presented. The first method is based on a genetic algorithm to obtain the parameter values for the fractionalorder PI
μ controller by global optimization. The second method used to design the fractional-order PI
μ controller relies on an auto-tuning approach by meeting some specifications in the frequency domain. The real-time experiments are conducted using a Steward platform which consists of a table tilted by six servo-motors with a ball on the top of the table. The considered system is a 6 degrees of freedom (d.o.f.) motion platform. The feedback on the position of the ball is obtained from images acquired by a visual sensor mounted above the platform. The fractional-order controllers were implemented and the performances of the steward platform are analyzed.










Physical description


1 - 6 - 2013
9 - 10 - 2013


  • Department of Electrical energy, Systems and Automation, Ghent University, Technologiepark 913, 9052, Gent, Belgium
  • Department of Electrical energy, Systems and Automation, Ghent University, Technologiepark 913, 9052, Gent, Belgium
  • Department of Electrical energy, Systems and Automation, Ghent University, Technologiepark 913, 9052, Gent, Belgium
  • Department of Electrical energy, Systems and Automation, Ghent University, Technologiepark 913, 9052, Gent, Belgium


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