Fractional order impedance control by particle swarm optimization

Author

Oh, Sehoon ; Hori, Yoichi

Author_Institution

Dept. of Electr. Eng., Univ. of Tokyo, Tokyo

fYear

2008

Firstpage

1936

Lastpage

1941

Abstract

This paper suggests a methodology to realize fractional order impedance using feedback control of a motor, which can be called fractional impedance control. First, a novel discretization method of a fractional order integrator is proposed based on the coefficient fitting by particle swarm optimization. Based on this fractional order integrator, fractional order impedance control is realized using feedback control design. The characteristics of fractional impedance are analyzed by simulations, and the algorithm is implemented in a motor and the characteristics are made clear by experiments.

Keywords

electric motors; feedback; machine control; mechanical variables control; particle swarm optimisation; position control; fractional order impedance control; motor; particle swarm optimization; position feedback control; Automatic control; Calculus; Control systems; Feedback control; Humans; Impedance; Motion control; Particle swarm optimization; Robot control; Robot sensing systems; fractional order calculus; fractional order impedance; human-friendly motion control; impedance control; particle swarm optimization;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems, 2008. ICCAS 2008. International Conference on

Conference_Location

Seoul

Print_ISBN

978-89-950038-9-3

Electronic_ISBN

978-89-93215-01-4

Type

conf

DOI

10.1109/ICCAS.2008.4694414

Filename

4694414