Abstract
First, heat rod models linking temperature to heat flux density are obtained from system identification using fractional order systems. Then, motion planning of the nominal system is obtained through an open-loop control stemming from flatness principles. Usually, each model should have its own control reference in order to follow a desired output reference. Thanks to a third-generation CRONE controller, the nominal control reference is sufficient, and robust control is also guaranteed regarding model uncertainties and input/output disturbances. Robust motion planning is held on a real heat experiment and comparison between CRONE and PID controllers are proposed on this test bench.
Similar content being viewed by others
Notes
The main properties of \(\mathbb {R}\left[ {\mathbf{D }}^\gamma \right] \) are recalled in [37].
References
Amini, A., Azarbahram, A., Sojoodi, M.: \({H}_\infty \) consensus of nonlinear multi-agent systems using dynamic output feedback controller: an LMI approach. Nonlinear Dyn. (2016). doi:10.1007/s11071-016-2801-6
Antritter, F., Cazaurang, F., Lévine, J., Middeke, J.: On the computation of \(\pi \)-flat outputs for differential-delay linear systems. Syst. & Control Lett. 71, 14–22 (2014). doi:10.1016/j.sysconle.2014.07.002
Antritter, F., Middeke, J.: A toolbox for the analysis of linear systems with delays. In: CDC/ECC 2011, pp. 1950–1955. Orlando, USA (2011)
Aoun, M., Malti, R., Levron, F., Oustaloup, A.: Synthesis of fractional laguerre basis for system approximation. Automatica 43, 1640–1648 (2007). doi:10.1016/j.automatica.2007.02.013
Battaglia, J.L., Le Lay, L., Batsale, J.C., Oustaloup, A., Cois, O.: Heat flux estimation through inverted non integer identification models. Int. J. Therm. Sci. 39(3), 374–389 (2000). doi:10.1016/S1290-0729(00)00220-9
Battig, A., Kalla, S.: On Mikusinski’s operators of fractional integration. Revista Colombiana de Matemáticas IX, 155–160 (1975)
Benchellal, A., Bachir, S., Poinot, T., Trigeassou, J.C.: Identification of a non-integer model of induction machines. In: 1st IFAC Workshop on Fractional Differentiation and its Applications (FDA), pp. 400–407. Bordeaux, France (2004)
Brunovský, P.: A classification of linear controllable systems. Kybernetika 6, 176–178 (1970)
Cohn, P.M.: Free Rings and Their Relations. Academic Press, London (1985)
Cois, O., Oustaloup, A., Poinot, T., Battaglia, J.L.: Fractional state variable filter for system identification by fractional model. In: 6th European Control Conference ECC’01. Porto, Portugal (2001)
Farges, C., Fadiga, L., Sabatier, J.: \({H}_\infty \) analysis and control of commensurate fractional order systems. Mechatronics 23(7), 772–780 (2013). doi:10.1016/j.mechatronics.2013.06.005
Fliess, M.: Some basic structural properties of generalized linear systems. Syst. Control Lett. 15, 391–396 (1990). doi:10.1016/0167-6911(90)90062-Y
Fliess, M., Hotzel, R.: Sur les systèmes linéaires à dérivation non entière. Comptes Rendus de l’Académie des Sci. - Series IIB - Mech.-Phys.-Chem.-Astron. 324(2), 99–105 (1997). doi:10.1016/S1251-8069(99)80013-X
Fliess, M., Lévine, J., Martin, P., Rouchon, P.: Sur les systèmes non linéaires différentiellement plats. Comptes Rendus de l’Académie des Sci. I–315, 619–624 (1992)
Gabano, J.D., Poinot, T., Kanoun, H.: Identification of a thermal system using continuous linear parameter-varying fractional modelling. IET Control Theory & Appl. 5(7), 889–899 (2011). doi:10.1049/iet-cta.2010.0222
Garnier, H., Wang, L.: Identification of Continuous-time Models from Sampled Data. Springer-Verlag, Berlin (2008)
Heymans, N., Bauwens, J.: Fractal rheological models and fractional differential equations for viscoelastic behavior. Rheol. Acta 33, 219 (1994). doi:10.1007/BF00437306
Kailath, T.: Linear Systems. Prentice-Hall, Englewood Cliffs (1980)
Lamara, A., Colin, G., Lanusse, P., Charlet, A., Nelson-Gruel, D., Chamaillard, Y.: Pollutant reduction of a turbocharged diesel engine using a decentralized MIMO CRONE controller. Fract. Calc. Appl. Anal. 18(2), 307–332 (2015). doi:10.1515/fca-2015-0021
Lévine, J.: Analysis and Control of Nonlinear Systems a Flatness-based Approach. Springer, Berlin Heidelberg (2009)
Lévine, J., Nguyen, D.V.: Flat output characterization for linear systems using polynomial matrices. Syst. & Control Lett. 48, 69–75 (2003). doi:10.1016/S0167-6911(02)00257-8
Ljung, L.: System Identification - Theory for the User, 2nd edn. Prentice-Hall, Upper Saddle River (1999)
Maachou, A., Malti, R., Melchior, P., Battaglia, J., Oustaloup, A., Hay, B.: Nonlinear thermal system identification using fractional Volterra series. Control Eng. Pract. 29, 50–60 (2014). doi:10.1016/j.conengprac.2014.02.023
Malti, R., Sabatier, J., Akçay, H.: Thermal modeling and identification of an aluminium rod using fractional calculus. In: 15th IFAC Symposium on System Identification (SYSID’2009), pp. 958–963. St Malo, France (2009). doi:10.3182/20090706-3-FR-2004.00159
Malti, R., Victor, S., Oustaloup, A.: Advances in system identification using fractional models. J. Comput. Nonlinear Dyn. 3, 021,401.1–021,401.7 (2008). doi:10.1115/1.2833910
Matignon, D., d’Andréa-Novel, B.: Some results on controllability and observability of finite-dimensional fractional differential systems. In: IMACS, vol. 2, pp. 952–956. IEEE-SMC, Lille, France (1996)
Mikusiński, J.: Operational Calculus. Pergamon Press, PWN Polish Scientific Publishers, Warsaw (1983)
Miller, K., Ross, B.: An Introduction to the Fractional Calculus and Fractional Differential Equations. A Wiley-Interscience Publication, Hoboken (1993)
Oldham, K., Spanier, J.: The replacement of Fick’s laws by a formulation involving semi-differentiation. J. Electroanal. Chem. Interfacial Electrochem. 26(2–3), 331–341 (1970). doi:10.1016/S0022-0728(70)80316-3
Oustaloup, A.: La commande CRONE. Hermès - Paris (1991)
Podlubny, I.: Fractional Differential Equations. Academic Press, San Diego (1999)
Polderman, J., Willems, J.: Introduction to Mathematical System Theory: A Behavioral Approach. Springer-Verlag, Berlin (1998)
Qian, S., Zi, B., Ding, H.: Dynamics and trajectory tracking control of cooperative multiple mobile cranes. Nonlinear Dyn. 83(1), 89–108 (2016). doi:10.1007/s11071-015-2313-9
Rodrigues, S., Munichandraiah, N., Shukla, A.K.: A review of state of charge indication of batteries by means of A.C. impedance measurements. J. Power Sour. 87(1–2), 12–20 (2000). doi:10.1016/S0378-7753(99)00351-1
Sabatier, J., Merveillaut, M., Francisco, J., Guillemard, F., Porcelatto, D.: Lithium-ion batteries modeling involving fractional differentiation. J. Power Sour. 262, 36–43 (2014). doi:10.1016/j.jpowsour.2014.02.071
Victor, S., Malti, R., Garnier, H., Oustaloup, A.: Parameter and differentiation order estimation in fractional models. Automatica 49(4), 926–935 (2013). doi:10.1016/j.automatica.2013.01.026
Victor, S., Melchior, P., Lévine, J., Oustaloup, A.: Flatness for linear fractional systems with application to a thermal system. Automatica 57, 213–221 (2015). doi:10.1016/j.automatica.2015.04.021
Young, P., Jakeman, A.: Refined instrumental variable methods of time-series analysis: part III, extensions. Int. J. Control 31, 741–764 (1980). doi:10.1080/00207178008961080
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Victor, S., Melchior, P., Malti, R. et al. Robust motion planning for a heat rod process. Nonlinear Dyn 86, 1271–1283 (2016). https://doi.org/10.1007/s11071-016-2963-2
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s11071-016-2963-2