Design and Implementation of Fractional Order Controller for Service Robots

摘要

In this paper, the fractional order motion control is designed basing on the Leader I-DX service robotic platform, where the implementation of robust fractional order controller is introduced in details. The fractional order PD control is analyzed in frequency domain by using an FIR/IIR method. The system model of the motor of Leader I-DX is established in MATLAB so that the influence of to the whole control system can be verified, and the comparisons of PD and PD controllers are shown as well. Motivated by the better performance of fractional order controllers, a digital implementation of fractional order PD controllers using PRONY technique is applied so that the incremental fractional order controllers can be realized. The real experiments on Leader I-DX platform are illustrated to validate the above concepts.