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New Trends in Robot Control pp 3–18Cite as

Tuning of Fractional Order Controller and Prefilter in MIMO Robust Motion Control: SCARA Robot

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Part of the book series: Studies in Systems, Decision and Control ((SSDC,volume 270))

Abstract

Quite recently, fractional approaches was greatly used in control engineering area. Several methodologies based on fractional controllers tuning has been treated. In this work, a multi-input multi-output (MIMO) quantitative feedback theory (QFT) method is mixed with a fractional order PD\(^{\mu }\) controller and a fractional prefilter to govern multivariable systems. Each obtained sub-systems from the MIMO QFT technique is controlled independently. A new analytic tuning method of fractional order controller is developed in the aim to ensure stability and robustness. After the controller tuning a fractional order prefilter is designed and optimized to reach the desired performances. The proposed method effectiveness will be tested and evaluated based on a real robot model.

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Author information

Authors and Affiliations

  1. CEM Laboratory in Control & Energy Management, ENIS, University of Sfax, Sfax, Tunisia

    Mohamed Allagui, Najah Yousfi & Nabil Derbel

  2. IMS-UMR 5218 CNRS, University of Bordeaux-IPB-Talence cedex, Bordeaux, France

    Pierre Melchior

Authors
  1. Mohamed Allagui
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  2. Najah Yousfi
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  3. Nabil Derbel
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  4. Pierre Melchior
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Corresponding author

Correspondence to Mohamed Allagui .

Editor information

Editors and Affiliations

  1. Department of Electrical and Computer Engineering, Sultan Qaboos University, Al Khoudh, Oman

    Jawhar Ghommam

  2. National School of Engineers of Sfax, University of Sfax, Sfax, Tunisia

    Nabil Derbel

  3. Department of Engineering Design and Mathematics, University of the West of England, Bristol, UK

    Quanmin Zhu

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Allagui, M., Yousfi, N., Derbel, N., Melchior, P. (2020). Tuning of Fractional Order Controller and Prefilter in MIMO Robust Motion Control: SCARA Robot. In: Ghommam, J., Derbel, N., Zhu, Q. (eds) New Trends in Robot Control. Studies in Systems, Decision and Control, vol 270. Springer, Singapore. https://doi.org/10.1007/978-981-15-1819-5_1

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