Particle Filtering in Servo Drive Velocity Control with Fractional-Order PI Controller

Talar Sadalla; Piotr Kozierski; Dariusz Horla; Wojciech Giernacki; Szymon Drgas

doi:10.1007/978-3-319-77179-3_25

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Title

Particle Filtering in Servo Drive Velocity Control with Fractional-Order PI Controller

Authors

Talar Sadalla (WE) ^{[ 1 ][ D ]}
Piotr Kozierski (WE,WI) ^{[ 2 ][ 3 ][ 2.2 ][ P ]}
Dariusz Horla (WE) ^{[ 2 ][ 2.2 ][ P ]}
Wojciech Giernacki (WE) ^{[ 2 ][ 2.2 ][ P ]}
Szymon Drgas (WI) ^{[ 3 ][ 2.2 ][ P ]}

^{[ 1 ]} Wydział Elektryczny, Politechnika Poznańska | ^{[ 2 ]} Instytut Automatyki, Robotyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | ^{[ 3 ]} Instytut Automatyki i Robotyki, Wydział Informatyki, Politechnika Poznańska | ^{[ D ]} phd student | ^{[ P ]} employee

Scientific discipline (Law 2.0)

[2.2] Automation, electronics and electrical engineering

Year of publication

2018

Chapter type

chapter in monograph / paper

Publication language

english

Keywords

EN

particle filter
Kalman filter
fractional-order controller
servo drive
time-delay

Abstract

EN The main aim of this paper is to compare the closed-loop system based on combination of Fractional-order PI and Particle Filter with combination of Fractional-order PI and Kalman Filter, based on quality IAE index. Authors verified the results of a real-world experimental setup which was the Modular Servo System. The article is a combination of previous work and implementation of fractional-order PI controller with Particle Filter or Kalman Filter to a real-world system.

Date of online publication

08.03.2018

Pages (from - to)

265 - 275

DOI

10.1007/978-3-319-77179-3_25

URL

https://link.springer.com/chapter/10.1007/978-3-319-77179-3_25

Book

Automation 2018 : Advances in Automation, Robotics and Measurement Techniques

Presented on

Automation 2018, 21-23.03.2018, Warsaw, Poland