IFAC World Congress (IFAC 2014) , August 23,

2014, CTICC, Cape Town, South Africa

Fractional Order Motion Controls: How Motion/Process

Control Can Benefit from using Fractional Calculus?

Prof. YangQuan Chen

Zhuo Li, PhD student
EECS, University of California, Merced
(ychen53, zli32)@ucmerced.edu
MESA Lab http://mechatronics.ucmerced.edu

IFAC World Congress 2014 Tutorial A Tutorial on FOMC

 IFAC World Congress (IFAC 2014) , August 23,
2014, CTICC, Cape Town, South Africa

A Tutorial on Fractional Order

Motion Control

Prof. YangQuan Chen

Zhuo Li, PhD student
EECS, University of California, Merced
(ychen53, zli32)@ucmerced.edu
MESA Lab http://mechatronics.ucmerced.edu

IFAC World Congress 2014 Tutorial A Tutorial on FOMC

 IFAC World Congress (IFAC 2014) , August 23,
2014, CTICC, Cape Town, South Africa

A Tutorial on Fractional Order

Motion Control
Part I: Overview of the Book and
Fundamentals of Fractional Order Controls

Prof. YangQuan Chen

Zhuo Li, PhD student
EECS, University of California, Merced
(ychen53, zli32)@ucmerced.edu
MESA Lab http://mechatronics.ucmerced.edu

IFAC World Congress 2014 Tutorial A Tutorial on FOMC

Part I: Overview and Introduction Overview of the book

• Fractional Order Motion Controls

John Wiley & Sons, Inc.
Hardcover, 454 pages, December 2012

• Dr. Ying Luo

Automation Science and Engineering, South China
University of Technology, Guangzhou, PR China

• Dr. YangQuan Chen

Director, Mechatronics, Embedded Systems and
Automation (MESA) LAB
MEAM/EECS, School of Engineering,
University of California, Merced
Email: [email protected]

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Part I: Overview and Introduction Scope of the book

• PART I FUNDAMENTALS OF FRACTIONAL CONTROLS

• 1 Introduction 3

• PART II FRACTIONAL ORDER VELOCITY SERVO

• 2 Fractional Order PI Controller Designs for Velocity Servo Systems 25
• 3 Tuning Fractional Order PI Controllers for Fractional Order Velocity Systems with Experimental Validation 41
• 4 Relay Feedback Tuning of Robust PID Controllers 59
• 5 Auto-Tuning of Fractional Order Controllers with ISO-Damping 73

• PART III FRACTIONAL ORDER POSITION SERVO

• 6 Fractional Order PD Controller Tuning for Position Systems 91
• 7 Fractional Order [PD] Controller Synthesis for Position Servo Systems 105
• 8 Time-Constant Robust Analysis and Design of Fractional Order [PD] Controller 123
• 9 Experimental Study of Fractional Order PD Controller Synthesis for Fractional Order Position Servo Systems 139
• 10 Fractional Order [PD] Controller Design and Comparison for Fractional Order Position Servo Systems 155

• PART IV STABILITY AND FEASIBILITY FOR FOPID DESIGN

• 11 Stability and Design Feasibility of Robust PID Controllers for FOPTD Systems 165
• 12 Stability and Design Feasibility of Robust FOPI Controllers for FOPTD Systems 187

• PART V FRACTIONAL ORDER DISTURBANCE COMPENSATORS

• 13 Fractional Order Disturbance Observer 211
• 14 Fractional Order Adaptive Feed-forward Cancellation 223
• 15 Fractional Order Robust Control for Cogging Effect 243
• 16 Fractional Order Periodic Adaptive Learning Compensation 275

• PART VI EFFECTS OF FRACTIONAL ORDER CONTROLS ON NONLINEARITIES

• 17 Fractional Order PID Control of A DC-Motor with Elastic Shaft 293
• 18 Fractional Order Ultra Low-Speed Position Servo 313
• 19 Optimized Fractional Order Conditional Integrator 329

• PART VII FRACTIONAL ORDER CONTROL APPLICATIONS

• 20 Lateral Directional Fractional Order Control of A Small Fixed-Wing UAV 345
• 21 Fractional Order PD Controller Synthesis and Implementation for HDD Servo System 369

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Part I: Overview and Introduction Contribution of this monograph

Contributions
Contributions
•• In
In the
the velocity
velocity and
and position
position motion
motion systems,
systems, fractional
fractional calculus
calculus isis applied
applied to
to the
the
FO
FO modeling
modeling and
and FO
FO controllers
controllers design
design in
in systematic
systematic ways
ways to
to achieve
achieve better
better
performances
performances than
than the
the designed
designed integer
integer order
order controllers
controllers using
using traditional
traditional
optimization
optimization methods.
methods. Stability
Stability and
and feasibility
feasibility issues
issues are
are analyzed
analyzed and and discussed
discussed
for
for the
the fractional
fractional order
order controllers
controllers design.
design.

•• FO
FO disturbance
disturbance observer,
observer, FO
FO adaptive
adaptive feed-forward
feed-forward scheme,
scheme, FOFO adaptive
adaptive control
control
and
and FO
FO periodic
periodic adaptive
adaptive learning
learning control
control for
for external
external disturbance
disturbance
compensation
compensation are
are presented.
presented.

•• This
This book
book documents
documents the
the very
very first
first optimization
optimization approach
approach of
of the
the proposed
proposed FO
FO
conditional
conditional integrator
integrator for
for nonlinear
nonlinear system
system controls.
controls. Meanwhile,
Meanwhile, some
some efforts
efforts of
of
the
the fractional
fractional order
order control
control on
on nonlinearities,
nonlinearities, for
for example,
example, friction
friction and
and backlash,
backlash,
are
are presented.
presented.

•• Simulation
Simulation illustrations
illustrations and/or
and/or experimental
experimental validations
validations are
are demonstrated
demonstrated forfor
all
all the
the proposed
proposed control
control schemes
schemes and
and approaches.
approaches. The
The real
real applications
applications for
for FO
FO
motion
motion controls
controls onon unmanned
unmanned aerial
aerial vehicles
vehicles and
and hard-disk
hard-disk drives
drives are
are
presented
presented inin this
this book.
book.

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Part I: Overview and Introduction Applications

Picture from http://www.cguru.info/automobile.htm

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Part I: Overview and Introduction Introduction to controls

Collection of resources for control tutorial

Control Tutorials for MATLAB and Simulink

http://ctms.engin.umich.edu/CTMS/index.php?aux=Home

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Part I: Overview and Introduction Fundamentals of fractional calculus

Collection of resources for fractional calculus

Fractional Calculus Day @ UCMerced

http://mechatronics.ucmerced.edu/node/68

Applied Fractional Calculus (AFC) @ UCMerced

http://mechatronics.ucmerced.edu/research/applied-fractional-calculus

Applied Fractional Calculus (AFC) @ USU

http://mechatronics.ece.usu.edu/foc/

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Part I: Overview and Introduction Fundamentals of fractional calculus

Collection of resources for fractional calculus

Richard Magin, Fractional Calculus in Bioengineering, ISBN: 978-1-56700-

215-7, 684 pages, 2006.

Igor Podlubny, Fractional Differential Equations, 1st Edition, An

Introduction to Fractional Derivatives, Fractional Differential Equations, to
Methods of Their Solution and Some of Their Applications, 1998

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Part I: Overview and Introduction Fundamentals of fractional calculus

• Crises in the foundations of mathematics push the development of math

• Paradox
– What does n=1/2 mean in the derivative of a function?

Figure: The born of fractional calculus

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Part I: Overview and Introduction Fundamentals of fractional calculus

Definition
Definition 11
Fractional
Fractional Order
Order Cauchy
Cauchy integral
integral formula
formula

where
where CC is
is the
the closed-path
closed-path that
that encircles
encircles the
the poles
poles of
of the
the function
function ff (t).
(t).

Definition
Definition
   22

Grünwald-Letnikov
Grünwald-Letnikov definition
definition

where
where are
are the
the binomial
binomial coefficients;
coefficients; the
the subscripts
subscripts toto the
the left
left and
and right
right of
of
DD are
are the
the lower-
lower- and
and upper-bounds
upper-bounds inin the
the integral.
integral. The
The value
value
can
can be
be positive
positive or
or negative,
negative, corresponding
corresponding to to differentiation
differentiation and
and
integration,
integration, respectively.
respectively.

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Part I: Overview and Introduction Fundamentals of fractional calculus

Definition
Definition
   33

Riemann-Liouville
Riemann-Liouville definition
definition

where
where ,, and
and aa is
is the
the initial
initial value.
value. Let
Let aa == 0,
0, the
the notation
notation of
of integral
integral can
can be
be
simplified
simplified to.
to.

Definition
Definition 44
  
Caputo
Caputo definition
definition

where
where ,, m
m isis an
an integer
integer and
and ..

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Part I: Overview and Introduction Fundamentals of fractional calculus

Fractional
Fractional order
order differential
differential equations
equations

Laplace
Laplace
   transform
transform of
of aa fractional
fractional order
order derivative
derivative operator
operator

(6)
Where
Where ..

Laplace
Laplace transform
transform of
of the
the above
above differential
differential equation
equation

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Part I: Overview and Introduction Fundamentals of fractional calculus

Fourier
Fourier
   transform
transform of
of aa fractional
fractional order
order derivative/integral
derivative/integral operator
operator

where
where can
can be
be either
either positive
positive or
or negative
negative real
real number.
number.

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Part I: Overview and Introduction Fundamentals of fractional calculus

The
The advantages
advantages of
of fractional
fractional order
order models
models

They
They depict
depict the
the real
real world
world objects
objects more
more accurately;
accurately;
Variable
Variable stability
stability region;
region;
etc...
etc...

G.W.
G.W. Scott
Scott Blair
Blair (1950)
(1950)

“We
“We may
may express
express our our concepts
concepts in
in Newtonian
Newtonian terms
terms ifif we
we find
find this
this
convenient
convenient but,
but, ifif we
we do
do so,
so, we
we must
must realize
realize that
that we
we have
have made
made aa
translation
translation into
into aa language
language which
which is
is foreign
foreign to
to the
the system
system which
which we
we are
are
studying.”
studying.”

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Part I: Overview and Introduction The power of fractional calculus

Fractional-Order Calculus
Integer-Order Calculus
Dr. Richard L. Magin, ICCC12

Zhuo LI 2013
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Part I: Overview and Introduction Fundamentals of fractional calculus

Why
Why many
many integer
integer order
order models
models depict
depict real
real world
world objects
objects well
well enough?
enough?

The
The “fractance”
“fractance” of
of many
many objects
objects are
are usually
usually very
very low.
low.

Why
Why integer
integer order
order models
models are
are more
more popular?
popular?

Complexity
Complexity of
of solutions
solutions to
to FO
FO differential
differential equations;
equations;

Ignorance
Ignorance of
of the
the existence
existence of
of fractional
fractional order
order models.
models.

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Part I: Overview and Introduction Introduction to Fractional Order Controls

•Collection
  of resources for fractional order control

Fractional Order Controls: A beginner’s view

http://
mechatronics.ucmerced.edu/sites/mechatronics.ucmerced.edu/files/page/documents/afc-csois-zhuo
-2012-5-14.pdf

Chen, Y.; Petras, I.; Xue, D, "Fractional order control - A tutorial" American Control Conference.
ACC '09, pp.1397,1411, Jun 10-12, 2009

Podlubny, I, “Fractional-Order Systems and Controllers”, IEEE Transactions on Automatic

Control, Vol. 44, No. 1, January 1999

Oustaloup, Alan, etc, The CRONE Team, “From Fractal Robustness to the CRONE Approach”,
ESAIM: Proc., 1998, Vol. 5, pp. 177-192

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Part I: Overview and Introduction Fundamentals of fractional order controls

Stability
Stability of
of LTI
LTI Fractional
Fractional Order
Order Systems
Systems

Figure: Stability region of LTI fractional order systems

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Part I: Overview and Introduction Fundamentals of fractional order controls

Four
Four combinations
combinations

• IO model, IO controller
• IO model, FO controller
• FO model, IO controller
• FO model, FO controller

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Part I: Overview and Introduction TID Controller

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Part I: Overview and Introduction TID Controller

Motivation
Motivation of
of the
the TID
TID controller
controller

Figure: Bode plots for PID controlled plant and the ideal
loop response
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Part I: Overview and Introduction CRONE controller

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Part I: Overview and Introduction  
Controller

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Part I: Overview and Introduction FO Lead-lag compensator

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Part I: Overview and Introduction The end of session I

This is the end of session I

Questions?

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