A graphical tuning method for fractional order controllers based on iso-slope phase curves

Area of Science:

• Control Engineering
• Robotics
• Mechatronics

Background:

• Fractional order controllers offer superior performance over integer-order PID controllers in specific scenarios.
• Tuning fractional order controllers presents a significant challenge due to the lack of generalized design tools and reliance on numerical methods.

Purpose of the Study:

• To present a novel graphical solution for tuning fractional order controllers.
• To provide an intuitive and simplified alternative to complex numerical computation methods for controller design.
• To validate the effectiveness of the proposed graphical tuning method in a real-world application.

Main Methods:

• Development of a graphical design approach for fractional order controllers, bypassing nonlinear equation solving.
• Implementation and testing of the graphically tuned fractional order controller on servomotors of a bio-inspired soft neck.
• Comparative analysis of the proposed controller's performance against other control strategies.

Main Results:

• The graphical tuning method provides an intuitive and simplified process for designing fractional order controllers.
• Controllers tuned using the graphical method demonstrate robust performance, meeting design specifications.
• The proposed approach is competitive with state-of-the-art methods and offers a more direct tuning experience.

Conclusions:

• The graphical solution offers a practical and efficient method for tuning fractional order controllers.
• This intuitive approach enhances the applicability of advanced fractional order control in complex systems.
• The method proves effective and competitive, simplifying the design and tuning of robust control systems.