In this paper,simulated and experimental results on the conical tank level control are presented.PI/PID controllers of integer order(IO)as well as of fractional order(FO)are studied and compared.The tuning parameters ...In this paper,simulated and experimental results on the conical tank level control are presented.PI/PID controllers of integer order(IO)as well as of fractional order(FO)are studied and compared.The tuning parameters are obtained first by using root locus(RL)and Ziegler and Nichols methods,for comparison purposes.Next,particle swarm optimization(PSO)is employed to determine the optimal controllers'parameters using as fitness function the integral of the absolute value of tracking error(IAE).From the experimental results it is concluded that PI/FOPI are the controllers presenting the lowest IAE indexes,whereas PID/FOPID controllers present the lowest energy consumption by the control signal.展开更多
This paper presents the analysis of the control energy consumed in model reference adaptive control(MRAC)schemes using fractional adaptive laws, through simulation studies. The analysis is focused on the energy spent ...This paper presents the analysis of the control energy consumed in model reference adaptive control(MRAC)schemes using fractional adaptive laws, through simulation studies. The analysis is focused on the energy spent in the control signal represented by means of the integral of the squared control input(ISI). Also, the behavior of the integral of the squared control error(ISE) is included in the analysis.The orders of the adaptive laws were selected by particle swarm optimization(PSO), using an objective function including the ISI and the ISE, with different weighting factors. The results show that, when ISI index is taken into account in the optimization process to determine the orders of adaptive laws,the resulting values are fractional, indicating that control energy of the scheme might be better managed if fractional adaptive laws are used.展开更多
文摘In this paper,simulated and experimental results on the conical tank level control are presented.PI/PID controllers of integer order(IO)as well as of fractional order(FO)are studied and compared.The tuning parameters are obtained first by using root locus(RL)and Ziegler and Nichols methods,for comparison purposes.Next,particle swarm optimization(PSO)is employed to determine the optimal controllers'parameters using as fitness function the integral of the absolute value of tracking error(IAE).From the experimental results it is concluded that PI/FOPI are the controllers presenting the lowest IAE indexes,whereas PID/FOPID controllers present the lowest energy consumption by the control signal.
基金supported by CONICYT-Chile,under the Basal Financing Program(FB0809)Advanced Mining Technology Center,FONDECYT Project(1150488)+1 种基金Fractional Error Models in Adaptive Control and Applications,FONDECYT(3150007)Postdoctoral Program 2015
文摘This paper presents the analysis of the control energy consumed in model reference adaptive control(MRAC)schemes using fractional adaptive laws, through simulation studies. The analysis is focused on the energy spent in the control signal represented by means of the integral of the squared control input(ISI). Also, the behavior of the integral of the squared control error(ISE) is included in the analysis.The orders of the adaptive laws were selected by particle swarm optimization(PSO), using an objective function including the ISI and the ISE, with different weighting factors. The results show that, when ISI index is taken into account in the optimization process to determine the orders of adaptive laws,the resulting values are fractional, indicating that control energy of the scheme might be better managed if fractional adaptive laws are used.
