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Design, implementation and application of distributed order PI control.

Fengyu Zhou1, Yang Zhao, Yan Li

  • 1Service Robot Laboratory of Shandong University, School of Control Science and Engineering, Shandong University, Jinan 250061, Shandong, PR China.

ISA Transactions
|January 29, 2013
PubMed
Summary
This summary is machine-generated.

This study introduces distributed order PI controllers for robust control of wheeled robots, offering superior tolerance to uncertainties compared to fractional order methods. Experimental results validate the effectiveness of this advanced control strategy.

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Area of Science:

  • Robotics and Control Systems
  • Automation Engineering
  • Mechatronics

Background:

  • Wheeled service robots require robust control strategies to handle structural and parametric uncertainties.
  • Fractional order PI control offers improved performance but has limitations in tolerating significant uncertainties.
  • Advanced control methods are needed for reliable operation in complex environments.

Purpose of the Study:

  • To develop and apply novel distributed order PI controller design methods for robust control of wheeled service robots.
  • To enhance the tolerance of robot control systems to structural and parametric uncertainties.
  • To propose a practical discrete incremental distributed order PI control strategy.

Main Methods:

  • Derivation of distributed order PI controller design methods.
  • Application of these methods to robust control of wheeled service robots.
  • Development of a discrete incremental distributed order PI control strategy using discretization and frequency criteria.
  • Integration of an auto-tuning strategy and genetic algorithm for parameter optimization.

Main Results:

  • The proposed distributed order PI controllers demonstrate superior robustness against uncertainties compared to fractional order PI control.
  • A practical discrete incremental distributed order PI control strategy is successfully formulated.
  • Experimental validation confirms the advantages and unique features of the developed methods.
  • The methods show applicability in various fields of fractional order systems, control, and signal processing.

Conclusions:

  • Distributed order PI controllers provide a more robust solution for wheeled service robots facing uncertainties.
  • The proposed discrete incremental strategy offers a practical approach for implementing advanced control.
  • The integration of auto-tuning and genetic algorithms enhances the applicability and performance of distributed order PI control.