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  1. 1 Open Physics

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  1. 1 2013

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  1. 1 Copot C.

  2. 1 Ionescu C.

  3. 1 Keyser R.

  4. 1 Zhong Y.

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

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Copot C., Zhong Y., Ionescu C., Keyser R.
Open Physics
|
2013
|
vol. 11
|
issue 6
702-713
EN
In this paper, two methods to tune a fractional-order PI λ D 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 λ D μ controller by global optimization. The second method used to design the fractional-order PI λ D 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.
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