Fractional Order Proportional Derivative Controller Research Articles

A new chemical networked system: spatial-temporal evolution and control

Abstract This paper constructs a scale-free chemical network based on the Gierer-Meinhardt (GM) system and investigates its Turing instability. We establish a fractional-order single-node GM system with delay and design a fractional-order proportional derivative (PD) control strategy for the issue of bifurcation control. Using delay as bifurcation parameter, the existence of Hopf bifurcation is proven, and control over bifurcation threshold points is achieved through a fractional-order PD control strategy. For the scale-free chemical network based on the GM system, we obtain the condition of how the Turing instability occurs. We derive how the number of edges for the new nodes changes the stability of the network-organized system and investigate the relationship between degrees of nodes and eigenvalues of the network matrix. We give the instability condition caused by diffusion in the network-organized system. Finally, the numerical simulations verify analytical results.

Efficient DC motor speed control using a novel multi-stage FOPD(1 + PI) controller optimized by the Pelican optimization algorithm.

This paper introduces a novel multi-stage FOPD(1 + PI) controller for DC motor speed control, optimized using the Pelican Optimization Algorithm (POA). Traditional PID controllers often fall short in handling the complex dynamics of DC motors, leading to suboptimal performance. Our proposed controller integrates fractional-order proportional-derivative (FOPD) and proportional-integral (PI) control actions, optimized via POA to achieve superior control performance. The effectiveness of the proposed controller is validated through rigorous simulations and experimental evaluations. Comparative analysis is conducted against conventional PID and fractional-order PID (FOPID) controllers, fine-tuned using metaheuristic algorithms such as atom search optimization (ASO), stochastic fractal search (SFS), grey wolf optimization (GWO), and sine-cosine algorithm (SCA). Quantitative results demonstrate that the FOPD(1 + PI) controller optimized by POA significantly enhances the dynamic response and stability of the DC motor. Key performance metrics show a reduction in rise time by 28%, settling time by 35%, and overshoot by 22%, while the steady-state error is minimized to 0.3%. The comparative analysis highlights the superior performance, faster response time, high accuracy, and robustness of the proposed controller in various operating conditions, consistently outperforming the PID and FOPID controllers optimized by other metaheuristic algorithms. In conclusion, the POA-optimized multi-stage FOPD(1 + PI) controller presents a significant advancement in DC motor speed control, offering a robust and efficient solution with substantial improvements in performance metrics. This innovative approach has the potential to enhance the efficiency and reliability of DC motor applications in industrial and automotive sectors.

Pitch angle control of wind turbines using model-free auto-tuned fractional order proportional derivative ATFOPD controller

The nonlinear dynamics of wind power plants, in addition to uncertainties such as unknown nonlinear disturbances and parameter variations make the design of a robust controller a difficult task. This paper proposes a robust fractional-order controller for the pitch angle control of a variable-speed wind turbine system. An auto-tuned fractional order proportional-derivative controller ATFOPD is designed taking the objectives of reducing pitch actuator fatigue, limiting output mechanical power and speed at their rated values above the rated wind speed. The phase, phase slope and modulus of the pitch actuator process at the fixed gain crossover frequency are needed in order to tune the fractional order controller parameters. These values are usually derived using a mathematical model of the system, such as a transfer function. A model-free auto-tuning technique that can calculate the controller's parameters from measured variables is used in this work in order to design a robust FOPD controller. Simulation results of the ATFOPD controlled system are compared to integer order proportional-derivative IOPD and IOPID controllers, which show that the ATFOPD controller is more effective than the other controllers and its robustness is verified in the presence of disturbances in addition to system parameters and wind speed variations.

Spotted Hyena Optimizer enhances the performance of Fractional-Order PD controller for Tri-copter drone

AbstractIn this study, nonlinear control design is presented for trajectory tracking of Tricopter system. A Fractional Order Proportional Derivative (FOPD) controller has been developed. The performance of controlled Tri-copter system can be enhanced by suggesting modern optimization technique to optimally tune the design parameters of FOPD controller. The Spotted Hyena Optimizer (SHO) is proposed as an optimization method for optimal tuning of FOPD's parameters. To verify the performance of controlled Tricopter system based on optimal SHO-based FOPD controller, computer simulation is implemented via MATLAB codes. Moreover, a comparison study between SHO and Particle Swarm Optimization (PSO) has been made in terms of robustness and transient behavior characteristics of FOPD controller.

Extending the admissible control-loop delays for the inverted pendulum by fractional-order proportional-derivative controller

Stabilization of the inverted pendulum by fractional-order proportional-derivative (PD) feedback with two delays is investigated. This feedback law is obtained as a combination of PD feedback with two delays and fractional-order PD feedback with a single delay. Different types of stabilizability boundaries and the corresponding geometric and multiplicity conditions are determined using the D-subdivision method. The stabilizable region is depicted in the plane of the delay parameters for given fractional derivative orders. Several special cases and the concept of delay detuning are also discussed. It is shown that the admissible delay can be slightly increased compared to the integer-order PD feedback by introducing a fractional-order feedback term.

Model references frequency-domain design based fractional order PD controller for quadrotor control: attitude, altitude, and position studies

This article proposes a control strategy based on a Fractional Order Proportional Derivative (FOPD) controller to enhance the performance and robustness of quadrotors operating in trajectory tracking mode. The tuning method proposed for the FOPD controller is based on an ideal Bode transfer function in a closed loop as a fractional reference model. The latter represents the quadrotor desired closed-loop response, and its specification is the key design decision. In this study, we first appropriately set model reference parameters to realistic desired time response characteristics (i.e. overshoot and time constant). Then, the parameters of the FOPD controller are computed using the direct synthesis design approach. The dynamic model of the quadrotor is developed using Lagrange formulation. The model is used to test the performance of the proposed FOPD-based control strategy for the attitude, position, and altitude of the flying robot. The results show that the proposed controller achieved accurately set points tracking with transient responses (i.e. overshoot and time constant) that satisfactorily meet those assigned for their respective reference models. These results validate the effectiveness of our proposed control strategy. Moreover, our comparative studies of the proposed FOPD controller with the conventional PD controller show that the former satisfies better-desired design requirements.

Fractional-order PD control at Hopf bifurcation in a delayed predator–prey system with trans-species infectious diseases

In this paper, a delayed fractional-order predator–prey system with trans-species infectious diseases is proposed and the corresponding control strategy is implemented via fractional-order proportional-derivative (PD) control. Firstly, for the uncontrolled fractional-order predator–prey system, explicit conditions of stability and Hopf bifurcation are established by selecting time delay as the bifurcation parameter. The predator–prey system will lose its stability and a family of oscillations will emerge when the time delay passes through the critical value. Secondly, under the fractional-order PD control, the influences of the controller on the system stability and bifurcation are investigated. It is demonstrated that the Hopf bifurcation can be postponed or advanced, and the desired dynamic can be achieved by choosing appropriate control gain parameters. In addition, the impacts of fractional order and control parameters on dynamics are explored. Finally, some numerical simulations are depicted to validate the theoretical results.

Fuzzy Fractional-Order PD Vibration Control of Uncertain Building Structures

A new control strategy is proposed to suppress earthquake-induced vibrations on uncertain building structures. The control strategy embeds fuzzy logic in a fractional-order (FO) proportional derivative (FOPD) controller. A new improved FO particle swarm optimization (IFOPSO) algorithm is derived to adjust the initial parameters of the FOPD controller. An original fuzzy logic-FOPD (FFOPD) controller is then designed by combining the advantages of the fuzzy logic and FOPD control, to deal with large displacements on structures under earthquake excitation. Simulation experiments are carried out on uncertain building structures subjected to the effects of different kinds of seismic signals, illustrating the validity and feasibility of the proposed method.

Stochastic Hopf Bifurcation of MDOF Quasi-Integrable Hamiltonian Systems with Delayed Feedback Fractional-Order PD Controller

Hopf bifurcation, as the most representative dynamic bifurcation, is closely related to the stability of many engineering structures. In this work, the stochastic Hopf bifurcation (SHB) of a controlled quasi-integrable Hamiltonian system (H.S.) of multi-degree-of-freedom (MDOF) is investigated, where the system is subjected to wide-band noise and controlled by a Fractional-order Proportional-Derivative (FOPD) controller with time delay. By decoupling FOPD control force and simplifying it without time delay, the averaged Itô differential equations of the approximated system are derived with the technique of stochastic averaging. Then, the average bifurcation parameter expression of system is obtained, which can determine the criterion of the SHB deduced by the FOPD control force. Last, an illustration of coupled Rayleigh oscillators is given to demonstrate the validity of the procedure. The influences of time delay, noise intensities and fractional order on the system SHB are discussed.

A Two-Degree-of-Freedom Controller Design Satisfying Separation Principle With Fractional-Order PD and Generalized ESO

This article proposes a two-degree-of-freedom fractional-order proportional derivative (FOPD) controller with a general extended state observer (GESO) to achieve both optimal set-speed tracking and disturbance rejection performance for a typical permanent magnet synchronous motor servo system. The GESO simplifies the control plant, estimates and actively rejects total disturbances. The FOPD controller achieves fast speed tracking with almost no overshoot. Furthermore, it is verified that the control system with the proposed FOPD-GESO controller design meets the separation principle through mathematical derivation and simulation illustration. It shows that the proposed controller breaks the inherent tradeoff on tracking performance and disturbance robustness of the typical traditional proportional–integral–derivative (PID) control. Meanwhile, a systematic scheme for designing the FOPD-GESO controller to satisfy both frequency-domain and time-domain specifications is proposed in this article. Simulation illustration and experimental validation are performed to demonstrate that the proposed FOPD-GESO controller is superior to the typical integer-order PID controller, integer-order active disturbance rejection control with a typical extended state observer, and fractional-order PID controller in terms of speed tracking, antiload disturbance, and robustness to internal uncertainties.

Fractional-Order Surge Control of Active Magnetic Bearings Suspended Compressor

H∞ surge control in centrifugal compressors by using active magnetic bearings (AMBs) has been successfully designed and implemented. However, the structure and design process of H∞ surge control are quite complex. This paper reports on the design and implementation of fractional-order proportional-derivative control (FOPD) that results in the required specifications of surge control with a simple controller structure. To validate its effectiveness, the proposed FOPD surge controller has been implemented on a centrifugal compressor test rig equipped with AMBs. Simulation and experimental results show that the FOPD surge controller outperforms integer-order PD (IOPD) control in extending the surge limit in terms of the mass flow and provides similar performance as the H∞ controller.

Stability, bifurcation prediction and optimal control of a delayed integer-order small-world network based on the fractional-order PD control policy of variable order

In this paper, a fractional-order Proportional-Derivative (PD) control policy of variable order is initially designed in solving the problems of Hopf bifurcation and optimal control on the integer-order small-world network. Firstly, the time delay of the network as a key parameter is selected as the bifurcation parameter. Meanwhile, the impact of it is considered on dynamics of the controlled network. In order to analyse the dynamics of the controlled network, two methods are used to make the equivalent transformation for it and the analysis shows that transformed networks have similar linear features near the equilibrium point when variable order is a rational number. Then, through implementing the eigenvalue analysis for the characteristic equations of transformed networks, we are able to acquire some control conditions which can enable the controlled network to be stable or occur Hopf bifurcation. The finding represents that the bifurcation dynamics of the controlled network are effectively optimized by tuning the control parameters. Finally, numerical simulation results are illustrated to prove the availability of the designed control strategy and provide some diagrams between the bifurcation threshold and the control parameters. The diagrams indicate that there is an optimal order to maximize the bifurcation threshold of the controlled network under the fixed control gains.

Fractional order proportional derivative control for time delay plant of the second order: The frequency frame

This paper intends to tune fractional order proportional derivative controller for the performance, stability and robustness of second order plus time delay plant. The tuning method is based on the previously proposed “frequency frame” which is a rectangular frame enclosing gain and phase margins limited with gain and phase crossover frequencies in the Bode plot. Edges of the frame are tuned to achieve desired crossover frequencies and margins. By shaping the curves of the Bode plot, improvements are observed in the performance and robustness of the second order plus time delay system controlled by a fractional order proportional derivative controller. Generalized equations to obtain the parameters of the fractional order proportional derivative controller for second order plus time delay plant are given. In contrast to existing studies, this method reduces mathematical complexity when providing desired properties. Three examples are considered and effectiveness of the frequency frame is shown.

Stability and bifurcation analysis of a fractional-order single-gene regulatory model with delays under a novel PDα control law

In this paper, we propose a novel fractional-order proportional-derivative (PD) strategy to achieve the control of bifurcation of a fractional-order gene regulatory model with delays. The stability theory of fractional differential equations proved that with delays, some explicit conditions for the local asymptotical stability and Hopf bifurcation are given for the controlled fractional-order genetic model. It is demonstrated that the fractional-order gene regulatory model becomes controllable by adjusting the control gain parameters. In addition, the effect of fractional-order parameter on the dynamical behaviors is shown. Finally, numerical simulations are carried out to testify the validity of the main results and the availability of the fractional-order PD controller.

Improving dynamics of integer-order small-world network models under fractional-order PD control

The optimal control of dynamics is a popular topic for small-world networks. In this paper, we address the problem of improving the behavior of Hopf bifurcations in an integer-order model of small-world networks. In this study, the time delay is used as the bifurcation parameter. We add a fractional-order proportional-derivative (PD) scheme to an integer-order Newman-Watts (N-W) small-world model to better control the Hopf bifurcation of the model. The most important contribution of this paper involves obtaining the stability of the system and the variation of the conditions of the Hopf bifurcation after a fractional PD controller is added to the integer-order small-world model. The results demonstrate that the designed PD controller can be used to restrain or promote the occurrence of Hopf bifurcations by setting appropriate parameters. We also describe several simulations to verify our research results.

Stability and bifurcation control of a neuron system under a novel fractional-order PD controller

In this paper, we address the problem of bifurcation control for a delayed neuron system. By introducing a new fractional-order Proportional-Derivative (PD) feedback controller, this paper aims to control the stability and Hopf bifurcation through adjusting the control gain parameters. The order chosen in PD controller is different with that of the integer-order neuron system. Sufficient conditions for guaranteeing the stability and generating Hopf bifurcation are constructed for the controlled neuron system. Finally, numerical simulation results are illustrated to verify our theoretical derivations and the relationships between the onset of the Hopf bifurcation and the gain parameters are obtained.

On time-constant robust tuning of fractional order proportional derivative controllers

This paper deals with analyzing a newly introduced method for tuning of fractional order &#x005B proportional derivative &#x005D &#x0028 FO&#x005B PD &#x005D &#x0029 controllers to be used in motion control. By using this tuning method, not only the phase margin and gain crossover frequency are adjustable, but also robustness to variations in the plant time-constant is guaranteed. Conditions on the values of control specifications &#x0028 desired phase margin and gain crossover frequency &#x0029 for solution existence in this tuning method are found. Also, the number of solutions is analytically determined in this study. Moreover, experimental verifications are presented to indicate the applicability of the obtained results.

Complex Dynamic Behaviors of A Congestion Control System under A Fractional-order PD Control

This paper proposed an original fractional-order proportional-derivative (PD) feedback controller which is designed to control the Hopf bifurcation caused by the congestion control system. The proposed controller has the different order with the original congestion system. The proposed fractional-order PD controller has the different order with the controlled system and the communication delay is selected as the bifurcation parameter. Then the conditions of the stability and Hopf bifurcation are obtained by analyzing its characteristic equation and the stability domain can be extended under the adjustment of appropriate control gain parameters and the order. Therefore, the congestion system becomes controllable and the desirable behaviors can be realized. Finally, numerical simulations are carried out to testify the validity of the theoretical analysis in the designed fractional-order PD controller.

Fractional order proportional derivative control for first order plus time delay plants: achieving phase and gain specifications simultaneously

The aim of the method in this paper is to achieve desired gain and phase specifications for robustness and performance of first order plus time delay plants. The previously proposed method “frequency frame”, implemented for tuning fractional order proportional integral controllers, is applied on such plants controlled with a fractional order proportional derivative controller. Four specifications of gain and phase are considered in the Bode plot inspired from an ideal system. The frame is drawn enclosing the magnitude and phase curves limited by gain and phase crossover frequencies. Then, the size of the frame is tuned to provide loop-shaping of the curves to meet desired properties. The iso-damping property is achieved by shaping the phase curve. Similarly, numerous studies in the literature work on robustness achievement by loop shaping the phase curve of the Bode plot. However, the “frequency frame” approach is a new perspective in controller tuning. Two examples are illustratively given to prove the proposed method. Plants in the examples are also considered to be due to load disturbances. Simulation results and effects of the method are clearly explained.

Complex dynamic behaviors of a congestion control system under a novel PD1n control law: Stability, bifurcation and periodic oscillations

Abstract In this paper, we consider the control of nonlinear dynamic in a congestion control system. A novel fractional-order proportional-derivative (PD) feedback law is firstly designed to control the Hopf bifurcation caused by the system. The proposed P D 1 n controller has the different order with the original congestion system. Meanwhile, the communication delay is elected as the bifurcation parameter to study the stability, bifurcations and periodic oscillations of the controlled congestion system. By the stability mechanism of fractional-order systems, we can obtain the criteria for satisfying the stability and Hopf bifurcation. It has been discovered that the Hopf bifurcation point can be delayed or advanced under the adjustment of appropriate control gain parameters and the order. Therefore, the congestion system becomes controllable and the desirable behaviors can be realized. Finally, numerical simulations are presented to demonstrate the validity of the main results and the efficiency of the control strategy in the designed fractional-order PD controller.