Title :
Fractional order impedance control by particle swarm optimization
Author :
Oh, Sehoon ; Hori, Yoichi
Author_Institution :
Dept. of Electr. Eng., Univ. of Tokyo, Tokyo
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;
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
DOI :
10.1109/ICCAS.2008.4694414
