Abstract
Fractional order control schemes are being actively investigated for various systems. Fractional order concept is incorporated in integral (I), proportional integral (PI), proportional derivative (PD) or proportional integral derivative (PID) controller to investigate the performance of different state variables of the system. These techniques are often used for the purpose of technology transfer but very scanty research has so far been conducted using state space approach. The current investigation is initiated to observe the effect of fractional order controller using state space approach for the system's performance while tracking the position and regulating the speed of a linear servo cart system. Integer order controller based on proportional derivative (PD) approach is also shown for comparison. Simulation responses are presented and analyzed, in this investigation. The superiority of state space approach based fractional order controller is shown in the results. The paper contains a literature review on several control techniques used to control position and speed of a servo-cart system. An over view of mathematical modeling of servo cart system and a description of a proposed fractional controller is presented in this paper. A brief description of integer order control scheme is also presented. Simulated results are compared and discussed for both fractional order controller and integer order controller at the end of this paper.
Highlights
Servomotor based linear cart system is a powerful tool for real world applications
Other than the proportional integral (PI) control technique, a fuzzy logic based proportional integral derivative (PID) controller is tested for servo cart position control [4]
Luus-Jaakola Optimization technique based PID tuning process is accomplished for position and speed control of a DC servo motor [5]
Summary
Servomotor based linear cart system is a powerful tool for real world applications. It can reduce many men-hours through designing an automated actuating system in production lines. Integral-Square-Error (ISE) based PID tuning is performed for servo cart position and speed control [6]. This tuning was accomplished with the help of optimization technique. An integral transform operator is designed and implemented on the heat-diffusion problem [24] Another type of fractional operator with a variable order is developed using monotonic increasing function and justified the usefulness for transport process [25]. Fractional calculus based improved adaptive particle swarm optimization(DOADAPO) algorithm is proposed to solve gate assignment problem of airport [27] In this current investigation, the challenge is taken to design a fractional order linear controller to control the position and speed of a linear servo cart system.
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