Abstract
This paper presents a strategy for a fractional order fuzzy proportional integral derivative controller (FOFPID) controller for trajectory-tracking control of an electro-hydraulic rotary actuator (EHRA) under variant working requirements. The proposed controller is based on a combination of a fractional order PID (FOPID) controller and a fuzzy logic system. In detail, the FOPID with extension from the integer order to non-integer order of integral and derivative functions helps to improve tracking, robustness and stability of the control system. A fuzzy logic control system is designed to adjust the FOPID parameters according to time-variant working conditions. To evaluate the proposed controller, co-simulations (using AMESim and MATLAB) and real-time experiments have been conducted. The results show the effectiveness of the proposed approach compared to other typical controllers.
Highlights
Considering the improvement of industry, robotics and smart systems are becoming increasingly popular and widely used
Based on the previous investigation, this paper presents an efficient controller via a combination between the fractional order PID (FOPID) controller and a fuzzy logic system for position control of a loading system using an electro-hydraulic rotary actuator (EHRA) which is a type of electro-hydraulic actuator (EHA) system
15.2 illustrated in blue blocks and control signals are indicated by red lines as presented in Besides, mechanical parts were illustrated in blue blocks and control signals are indicated by red lines as software in which the models of hydraulic devices were simulated in blue blocks while the the proposed controller was programmed in the MATLAB/Simulink and imported to the model presented inparts
Summary
Considering the improvement of industry, robotics and smart systems are becoming increasingly popular and widely used. With the aim of attaining more favorable dynamic performance and the stability of the controlled systems, Podlubny has proposed a new controller called a fractional order PID (FOPID) controller [14]. FOPID controller and these methods adjust the parameters of FOPID controller depending on the working conditions [15,16,17] These approaches could improve the control performance, the control complexity is considered the key enabler. Based on the previous investigation, this paper presents an efficient controller via a combination between the FOPID controller and a fuzzy logic system for position control of a loading system using an electro-hydraulic rotary actuator (EHRA) which is a type of EHA system.
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