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Published in IET Control Theory and Applications
Received on 24th April 2012
Revised on 6th February 2013
Accepted on 11th February 2013
doi: 10.1049/iet-cta.2012.0309
ISSN 1751-8644
Mentouri de Constantine, Dpartement dElectronique, Route Ain El-Bey, Constantine 25000, Algeria
20 Aot 55 de Skikda, Dpartement de gnie lectrique, BP 26, Skikda 21000, Algeria
3 LUNAM Universit, IRCCyN CNRS UMR 6597, 1, rue de la No, 44321, France
E-mail: afcharef@yahoo.com
2 Universit
Abstract: Controllers based on fractional order calculus are gaining more and more interests from the control community.
This type of controllers may involve fractional integration, fractional differentiation and/or fractional systems in their structure
or implementation. They have been introduced in the control applications in a continuous effort to enhance the system control
quality performances and robustness. In this study, a new scheme of fractional order adaptive controller via high-gain output
feedback for a class of linear, time-invariant, minimum phase and single input-single output systems of relative degree one is
proposed. The basic idea of the new design is a further modication in the adaptive proportional control law by the introduction
of a fractional integration besides of the regular one of the squared output of the system in the adaptation gain of the control
strategy. An analytical stability proof of the feedback control system is presented. The control quality enhancement of the
proposed control scheme compared with the classical one has been presented through the simulation results of an illustrative
example.
Introduction
et al. [11] have introduced for the rst time the fractional
calculus in the conventional adaptive control. They have
used a fractional order parameter adjustment rule and a
fractional order reference model in the conventional Model
Reference Adaptive Control (MRAC). In 2006, Ladaci and
Charef [12] have also used the MRAC with a fractional
order parameter adjustment rule and a different fractional
order reference model than the one in [11]. Besides, they
have introduced a fractional differentiator with an appropriate fractional order at the output of the plant. A fractional
adaptive scheme, which combines a model reference and
a fractional order adjustment rule for a feed-forward gain
adjustment, has been proposed by Surez et al. [13] for
lateral control of an autonomous guided vehicle. Ladaci
and Charef [14] have also introduced an adaptive fractional
PI D controller based on a classical integer one. In all
the above referenced articles, the benets, in terms of the
dynamics and robustness of the control system, of the proposed fractional adaptive control schemes have been shown
through illustrative examples only. But the weaknesses of
such works were the lack of theoretical arguments to guarantee the stability of such fractional adaptive control schemes.
Hence, the analytical proof of stability for fractional adaptive control schemes is up to now considered as an open
problem.
In the last years, some analytical stability proofs of
some theoretical adaptive control schemes have been presented. Li et al. [15] have studied the asymptotic stability
of three fractional scalar systems using the universal adaptive stabilisation technique. The stability proofs obtained
IET Control Theory Appl., 2013, Vol. 7, Iss. 6, pp. 822828
doi: 10.1049/iet-cta.2012.0309
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in [15] have been extended to MIMO systems by Li and
Chen [16]. Ladaci et al. [17] have shown that a fractional adaptive controller based on high gain output feedback
can stabilise any given linear, time-invariant, minimum
phase, single input-single output (SISO) systems of relative degree one. They have also introduced a fractional
feed-forward in the MRAC algorithm where the robust
stability proof of the proposed adaptive control scheme
has been derived using the almost strictly positive realness property of the plant [18]. In [19], a fractional order
robust control scheme has been proposed for cogging effect
compensation on permanent magnetic synchronous motors
position and velocity servo system. Through this range of
design techniques and applications, though quite far from
aiming at completeness, it is clear that fractional order adaptive control has become an important research topic. The
generalisation to fractional orders of traditional controllers
or control schemes translates into more tuning parameters and more adjustable time and frequency responses
of the control system, allowing the fullment of robust
performances.
In this study we present a new scheme of fractional
order adaptive controllers via high-gain output feedback
for a class of linear, time-invariant, minimum phase and
SISO systems of relative degree one. The basic idea of
this new concept is the introduction of a fractional integration besides of the regular integration of the output of the
system in the adaptation gain of the control strategy. The
introduced fractional integration order can clearly improve
the behaviour of the control system. We have shown that
this controller can asymptotically stabilise the considered
class of systems. The proposed adaptive controller can also
deal with the output tracking problem of a step reference.
The simulation results of an illustrative example are presented to show the control quality enhancement using this
proposed fractional adaptive control scheme compared with
the classical one.
(4a)
(4b)
2
2.1
Preliminaries
Fractional calculus
t
(t )1 f ( ) d
lim x(t) = 0
(1)
d
d (1)
1
I
f (t) =
dt
(1 ) dt
t
(t ) f ( ) d
and
lim k(t) = k
(2)
(7a)
(7b)
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following holds
Problem statement
(8a)
u(t) = k(t)e(t)
(8b)
dk(t)
= 1 e2 (t) + 2 D e2 (t)
dt
(8c)
where r(t) is the reference signal, k(t) is the adaptive gain and e(t) = [y(t) r(t)] is the error signal. For
simplicity we will consider the case where r(t) = 0 to prove
the stability of the proposed control system given by
u(t) = k(t)y(t)
dk(t)
= 1 y2 (t) + 2 D y2 (t)
dt
(9a)
(9b)
2 > 0
1 < a < 1
(10)
(13b)
(13c)
(14)
lim x(t) = 0
(15)
(17)
I y2 =
1
()
t
(t )1 y2 ( ) d
(18)
t0
(12)
(13a)
(11)
dx(t)
= A(k)x(t)
= [A k(t)B C]x(t)
dt
dk(t)
= 1 y2 (t) + 2 D [y2 (t)]
dt
y(t) = Cx(t)
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t t0 and for all x(.) : [t0 , t1 ) n , solution of (13a),
[t0 , t1 ), the following holds
|y(t)| Me(tt0 )
lim y(t) = 0
(19)
(20)
(22)
(23)
(28)
(21)
where
A = [A kB C]
(27)
dx(t)
= Ax(t)
+ B(t)
dt
(26)
(24)
Illustrative example
G(s) =
5(s + 1)
s(s 0.3)
(29)
We can easily see that the above system satises Assumption A1 of Section 2. Then, we can apply the proposed
fractional order adaptive high gain controller of (12) to this
system. Based on the fractional order derivative (1 <
< 1) of (9), we will consider two cases. For both cases,
all the initial conditions have been set to zeros and the time
sampling period T for the numerical calculations has been
set to T = 25 ms. Besides, the values of the parameters , 1
and 2 are obtained by: rst, we set 2 = 0 in (12) (the
case will be the classical one) and tune the parameter 1 to
achieve the best response in terms of the overshoot, the rise
time and the settling time; then, using this obtained value
1 , the values of the parameters and 2 of the proposed
control gain scheme are tuned to achieve the best response
also in terms of the overshoot, the rise time and the settling
time.
k(t) = 4.0 I 1 [y2 (t)] + 12.0 I 1.55 [y2 (t)]
1
I [2y(t)y(t)] =
()
t
(t )1 2y( )y( ) d (25)
t0
(30)
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4
1.4
y(t)
yc(t)
1.2
3.5
k(t)
kc(t)
3
1
2.5
0.8
2
0.6
1.5
0.4
0.2
0.5
0
0
0.5
1.5
2.5
3.5
4.5
Fig. 1 Outputs y(t) and yc (t) of the closed loop control system
with the proposed fractional and the classical control schemes
5
6
Time (s)
10
Fig. 3 Control gains k(t) and kc (t) of the closed loop control
system with the proposed fractional and the classical control
schemes
0.7
u(t)
uc(t)
0.6
0.5
0.4
0.3
0.2
(32)
0.1
0
0.1
0.2
0.5
1.5
2.5
3.5
4.5
Time (s)
Fig. 2 Control signals u(t) and uc (t) of the closed loop control system with the proposed fractional and the classical control
schemes
The classical control gain kc (t) of (31) is also used for comparison purpose. The numerical calculation of the fractional
integrator of order 0.7 of (32) has been done using a digital
FIR lter obtained from [28]. The simulations results of this
case are also obtained with the input reference signal r(t) as
a unity step.
Fig. 4 shows the plots of the output responses y(t) and
yc (t) of the closed loop control system with the proposed
fractional and the classical control schemes, respectively. As
in the rst case, the output response y(t) of the closed loop
control system with the proposed fractional control scheme
has a lower overshoot and a smaller rise time than the classical one yc (t). Also, y(t) is as fast as yc (t). However, the
output response y(t) can be accelerated by setting a greater
2 of the control gain k(t) of (32).
The plots of the control signals u(t) and uc (t) of the closed
loop control system with the proposed fractional and the
classical control schemes, respectively, are given in Fig. 5.
As in the rst case, even though a larger initial control signal
u(t) compared to the initial control signal uc (t) is required
as shown in Fig. 5, u(t) is as fast as uc (t).
The plots of the fractional and the classical control gains
k(t) and kc (t) are shown in Fig. 6. In this case, we can
easily see that, from Fig. 6, the amplitude of the gain k(t)
of the proposed fractional control scheme is bounded and
has a smaller steady state amplitude than the steady state
amplitude of the gain kc (t) of the classical control scheme.
From the above example, we have remarked and noted
the following:
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2
1.4
y(t)
yc(t)
1.2
k(t)
kc(t)
1.8
1.6
1.4
1.2
0.8
1
0.6
0.8
0.6
0.4
0.4
0.2
0.2
0
0
0.5
1.5
2.5
3.5
4.5
Time (s)
Fig. 4 Outputs y(t) and yc (t) of the closed loop control system
with the proposed fractional and the classical control schemes
5
6
Time (s)
10
Fig. 6 Control gains k(t) and kc (t) of the closed loop control
system with the proposed fractional and the classical control
schemes
1.6
u(t)
uc(t)
1.4
1.2
1
Conclusion
0.8
0.6
0.4
0.2
0
0.2
0.5
1.5
2.5
3
Time (s)
3.5
4.5
Fig. 5 Control signals u(t) and uc (t) of the closed loop control system with the proposed fractional and the classical control
schemes
7
1
2
3
4
5
6
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