Design, implementation, and validation of robust fractional-order PD controller for wheeled mobile robot trajectory tracking

DOI10.1155/2020/9523549zbMath1435.93123OpenAlexW3003821501MaRDI QIDQ2296273

Lichuan Zhang, Shuo Zhang, Lu Liu

Publication date: 18 February 2020

Published in: Complexity (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1155/2020/9523549

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Automated systems (robots, etc.) in control theory (93C85) Control/observation systems governed by ordinary differential equations (93C15)

Uses Software

• CRONE
• FOTF Toolbox

Cites Work

• Stabilization using fractional-order PI and PID controllers
• New tuning rules for fractional PI\(^\alpha\) controllers
• Tuning of fractional PID controllers with Ziegler-Nichols-type rules
• Normalized robust FOPID controller regulation based on small gain theorem
• Robust fractional-order PID controller tuning based on Bode's optimal loop shaping
• Closed-loop time response analysis of irrational fractional-order systems with numerical Laplace transform technique
• Fractional-order sliding mode based extremum seeking control of a class of nonlinear systems
• Mittag-Leffler stability of fractional-order Hopfield neural networks
• Principles and synthesis of hydractive CRONE suspension
• Decentralized CRONE control of nonsquare multivariable systems in path-tracking design
• On the sliding-mode control of fractional-order nonlinear uncertain dynamics
• Fractional-order systems and PI/sup /spl lambda//D/sup /spl mu//-controllers
• Fractional-order Modeling and Control of Dynamic Systems
• Robust stability analysis for fractional‐order systems with time delay based on finite spectrum assignment
• A unified symplectic pseudospectral method for motion planning and tracking control of 3D underactuated overhead cranes
• Robust FOPID controller design for fractional‐order delay systems using positive stability region analysis
• Fractional-Order Control Systems

This page was built for publication: Design, implementation, and validation of robust fractional-order PD controller for wheeled mobile robot trajectory tracking