Fractional—PD controllers design for LTI-systems with time-delay. A geometric approach

Adrian Josue Guel Cortez; Cesar-Fernando Mendez-Barrios; V Ramirez; J.G Romero; Emilio Jorge  González-Galván; J Kado-Mercado

doi:10.1109/CoDIT.2018.8394881

Fractional—PD controllers design for LTI-systems with time-delay. A geometric approach

Adrian Josue Guel Cortez
, Cesar-Fernando Mendez-Barrios
, V Ramirez
, J.G Romero
, Emilio Jorge González-Galván
, J Kado-Mercado

Universidad Autónoma de San Luis Potosí
Centro de Investigación Científica de Yucatán
Instituto Tecnológico Autónomo de México

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding › peer-review

2 Citations (Scopus)

Abstract

In this paper we present a simple procedure to design fractional-PD μ controllers for Single-Input-Single-Output-Linear Time Invariant (SISO-LTI) systems with constant time-delay. More precisely, based on a geometric approach, we present a methodology not only to design a stabilizing controller, but also to provide practical guidelines to design non-fragile PD μ controllers. Finally, in order to illustrate the simplicity of the proposed approach as well as the efficiency of the PD μ controller in a realistic scenario, we consider an experimental setup consisting of controlling a teleoperated system using two Phantom Omni haptic devices.

Original language	English
Title of host publication	5th International Conference on Control, Decision and Information Technologies (CoDIT)
Publisher	IEEE
ISBN (Electronic)	978-1-5386-5065-3
ISBN (Print)	978-1-5386-5066-0
DOIs	https://doi.org/10.1109/CoDIT.2018.8394881
Publication status	Published - 25 Jun 2018
Externally published	Yes
Event	5th International Conference on Control, Decision and Information Technologies - Thessaloniki, Greece Duration: 10 Apr 2018 → 13 Apr 2018 http://codit2018.com/

Conference

Conference	5th International Conference on Control, Decision and Information Technologies
Abbreviated title	CoDIT 18
Country/Territory	Greece
City	Thessaloniki
Period	10/04/18 → 13/04/18
Internet address	http://codit2018.com/

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10.1109/CoDIT.2018.8394881

Cite this

Fractional—PD controllers design for LTI-systems with time-delay. A geometric approach. / Guel Cortez, Adrian Josue; Mendez-Barrios, Cesar-Fernando; Ramirez, V et al.
5th International Conference on Control, Decision and Information Technologies (CoDIT). IEEE, 2018.

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding › peer-review

Guel Cortez, AJ, Mendez-Barrios, C-F, Ramirez, V, Romero, JG, González-Galván, EJ & Kado-Mercado, J 2018, Fractional—PD controllers design for LTI-systems with time-delay. A geometric approach. in 5th International Conference on Control, Decision and Information Technologies (CoDIT). IEEE, 5th International Conference on Control, Decision and Information Technologies, Thessaloniki, Greece, 10/04/18. https://doi.org/10.1109/CoDIT.2018.8394881

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abstract = "In this paper we present a simple procedure to design fractional-PD μ controllers for Single-Input-Single-Output-Linear Time Invariant (SISO-LTI) systems with constant time-delay. More precisely, based on a geometric approach, we present a methodology not only to design a stabilizing controller, but also to provide practical guidelines to design non-fragile PD μ controllers. Finally, in order to illustrate the simplicity of the proposed approach as well as the efficiency of the PD μ controller in a realistic scenario, we consider an experimental setup consisting of controlling a teleoperated system using two Phantom Omni haptic devices.",

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AU - Guel Cortez, Adrian Josue

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AU - Romero, J.G

AU - González-Galván, Emilio Jorge

AU - Kado-Mercado, J

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N2 - In this paper we present a simple procedure to design fractional-PD μ controllers for Single-Input-Single-Output-Linear Time Invariant (SISO-LTI) systems with constant time-delay. More precisely, based on a geometric approach, we present a methodology not only to design a stabilizing controller, but also to provide practical guidelines to design non-fragile PD μ controllers. Finally, in order to illustrate the simplicity of the proposed approach as well as the efficiency of the PD μ controller in a realistic scenario, we consider an experimental setup consisting of controlling a teleoperated system using two Phantom Omni haptic devices.

AB - In this paper we present a simple procedure to design fractional-PD μ controllers for Single-Input-Single-Output-Linear Time Invariant (SISO-LTI) systems with constant time-delay. More precisely, based on a geometric approach, we present a methodology not only to design a stabilizing controller, but also to provide practical guidelines to design non-fragile PD μ controllers. Finally, in order to illustrate the simplicity of the proposed approach as well as the efficiency of the PD μ controller in a realistic scenario, we consider an experimental setup consisting of controlling a teleoperated system using two Phantom Omni haptic devices.

U2 - 10.1109/CoDIT.2018.8394881

DO - 10.1109/CoDIT.2018.8394881

M3 - Conference proceeding

SN - 978-1-5386-5066-0

BT - 5th International Conference on Control, Decision and Information Technologies (CoDIT)

PB - IEEE

T2 - 5th International Conference on Control, Decision and Information Technologies

Y2 - 10 April 2018 through 13 April 2018

ER -

Fractional—PD controllers design for LTI-systems with time-delay. A geometric approach

Abstract

Conference

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