In this paper it is studied the implementation of fractional-order algorithms in the position/force control of two cooperating robotic manipulators. The system performance is analyzed in the time and frequency domains. We analyze and compare different control methodologies such as the integer and the fractional-order PID presenting the simulation results assessing the performance of the propose...

In this paper, a new comparative approach has been proposed for reliable controller design. Scientists and engineers are often confronted with the analysis, design, and synthesis of real-life problems. The first step in such studies is the development of a 'mathematical model' which can be considered as a substitute for the real problem. The mathematical model is used here as a plant. Fractiona...

A fractional-order control strategy for pneumatic position servosystem is presented in this paper. The idea of the fractional calculus application to control theorywas introduced inmanyworks, and its advantages were proved. However, the realization of fractional-order controllers for pneumatic position servosystems has not been investigated. Based on the relationship between the pressure in cyl...

This paper deals with feedback control of fractional-order Chua’s system. The fractional-order Chua’s system with total order less than three which exhibit chaos as well as other nonlinear behavior and theory for control of chaotic systems using sampled data are presented. Numerical experimental example is shown to verify the theoretical results.

PID controllers belong to the dominating industrial controllers (Leššo, 1997) and therefore there is a continuous effort to improve their quality and robustness. One of the possibilities to improve PID controllers is to use fractional order controllers with non integer derivation and integration parts. The controlled objects are generally of fractional order, however for many of them, the fract...

Over the few last years the idea of introducing fractional calculus and systems in adaptive control has found a great interest, for the benefit one can win in the performances given by such systems. In adaptive control, the dynamic behavior of the system is defined by a chosen reference model and an adaptation algorithm modifies the correction to minimize the process output error. In this work,...

In this paper, multi-objective optimization is used for Pareto optimum design of fuzzy fractional-order PID controllers for plants with parametric uncertainties. Two conflicting objective functions have been used in Pareto design of the fuzzy fractional-order PID controller. The results clearly show that an effective trade-off can be compromisingly achieved among the different fuzzy fractional-...