Abhaya Pal Singh University of Sannio, Benevento, Italy: Grace Seminar

On selection of improved fractional model and control
of different systems with experimental validation
Abhaya Pal Singh

University of Sannio, Benevento, Italy
Grace Seminar
December 22, 2021

Abhaya Pal Singh (Grace Seminar) Fractional Modeling and Control December 22, 2021 2 / 35
Background
Ph.D. in Engineering (2019)
Thesis Topic: Fractional Modeling and Controller Design for Robotic Manipulators.
‘Symbiosis International University’, Pune, India.
Master of Technology (2012)

Thesis Topic: Dynamics and Control of Under-actuated Robotic Systems Using
Fractional Order Calculus.
‘Veermata Jijabai Technological Institute (VJTI)’, Mumbai, India.
Bachelor of Technology (2009)

Electronics and Communication Engineering, ITM, Gida, Gorakhpur, India.
Research Interests
Precision agriculture.
Fractional order control.
Fractional order modeling.
Overview
Introduction to Fractional Calculus
▶ The birth
▶ Fractional Differentiation
▶ An Example
▶ Transition nature
▶ Power of fractional calculus
▶ Facts
Key structure
Modeling of Robotic Manipulators
▶ Fractional Modeling Equation Derivation
▶ Fractional Modeling of Single Link Robotic Manipulator
Controller for Robotic Manipulators
▶ Fractional Model Predictive Controller
▶ FMPC for Robotic Manipulators
Fractional Model Selection
▶ Applying proposed algorithm to existing models
Experimental Validation
Bibliography
Introduction to Fractional Calculus (FC)
The birtha of FC !!!
a
Slide from:
https://mechatronics.ucmerced.edu/sites/mechatronics.ucmerced.edu/files/page/documents/fomc part1.pptx
Fractional Differentiation
If f (x) = x m , then the nth order derivative of any function can be
found by
d n f (x) m! Γ(m + 1)
n
= x m−n = x m−n ,
dx (m − n)! Γ(m − n + 1)
where, Γ(m + 1) = mΓ(m) = m!.
found by
d n f (x) m! Γ(m + 1)
n
= x m−n = x m−n ,
dx (m − n)! Γ(m − n + 1)
where, Γ(m + 1) = mΓ(m) = m!.
d2
1 1 √
Can you guess dx 12
( d 2 1x ) = ??, with Γ(1/2) = π and Γ(1) = 1.
dx 2
found by
d n f (x) m! Γ(m + 1)
n
= x m−n = x m−n ,
dx (m − n)! Γ(m − n + 1)
where, Γ(m + 1) = mΓ(m) = m!.
d2
1 1 √
Can you guess dx 12
( d 2 1x ) = ??, with Γ(1/2) = π and Γ(1) = 1.
dx 2
1
d 2x Γ(1 + 1) 1 1 1
1 = 1
x 1− 2 = 1 √ x 2
dx 2 Γ(1 − 2 + 1) 2 π
found by
d n f (x) m! Γ(m + 1)
n
= x m−n = x m−n ,
dx (m − n)! Γ(m − n + 1)
where, Γ(m + 1) = mΓ(m) = m!.
d2
1 1 √
Can you guess dx 12
( d 2 1x ) = ??, with Γ(1/2) = π and Γ(1) = 1.
dx 2
1
d 2x Γ(1 + 1) 1 1 1
1 = 1
x 1− 2 = 1 √ x 2
dx 2 Γ(1 − 2 + 1) 2 π
1 1 1
d 2 d 2x 1 d2 1
( ) = √ ( 1 x ) = 1
2
dx 21 dx 2 1
1
2 π dx 2
Transition nature : f (x) = x 2 =⇒ f ′ (x) = 2x
Transition from a parabola to a line is fractional in nature.
Power of fractional calculus
Power of fractional calculus
Facts
Rigorous mathematical theory has been developed.
Integer-order calculus is the special case.
Geometrical interpretation or physical meaning exists. But not as
straight forward as for the integer-order derivatives.
There are more that FIFTEENa definitions of fractional derivative
operator.
a
Nataraj, P.S.V., 2010. Fractional calculus and fractional differential equations with SCILAB.
Popular books on fractional order systems and control
Laplace transform of a fractional order derivative operator
For exponent α, d α f (x)
= D α f (x)
dx α
Laplace transforma (zero initial condition)
L[D α f (x)] = s α F (s)
a
I. Podlubny. Geometric and Physical Interpretation of Fractional Integration and Fractional Differentiation.
Fractional Calculus and Applied Analysis, 2002.
Stability region of fractional LTI systems
Key structure
Fractional Modeling Equation Derivation
Determine Lagrangian, L = Kinetic Energy - Potential Energy
d dL dL
Use E-L formulation dt d q̇ − dq = F (t) to get governing equations
Use fractional Laplace Transform L[D α f (t)] = s α F (s), and get the
transfer function in exponent α
Solve for the response by considering t α−1 Eα,α (−pt α ) = L−1 [ s α1+p ]
Fractional Modeling of Single Link Robotic Manipulator
Fractional Modeling of Single Link Robotic Manipulatora

a
Singh, Abhaya Pal et al., Modeling and control of robotic manipulators: A fractional calculus point of view,
Arabian Journal for Science and Engineering, 2021.
480s 2α +164470
 
θ(s α )
 
s 4α +7.2s 3α +967.1s 2α +2467s α
 =



α
ϕ(s ) −480s 2α
s 4α +7.2s 3α +967.1s 2α +2467s α
65.46t −0.5
θ(t) = − 65.32t −0.5 E0.5,0.5 (−2.6t 0.5 ) + (0.175 + 2.7j)t −0.5
Γ(0.5)
× E0.5,0.5 (−(2.3 − 31j)t 0.5 ) − (0.173 + 2.7j)t −0.5 E0.5,0.5 (−(2.3 + 31j)t 0.5 )
ϕ(t) = 1.3t −0.5 E0.5,0.5 (−2.6t 0.5 ) − (0.65 + 7.7j)t −0.5 E0.5,0.5 (−(2.3 − 31j)t 0.5 )
− (0.65 + 7.7j)t −0.5 E0.5,0.5 (−(2.3 + 31j)t 0.5 )
Fractional Model Validation of Single Link Manipulator

For α = 0.5
Fractional Model of POAC
For α = 0.3  
2s 0.6 −19.6
s 1.2 −13.72s 0.6
H(s 0.3 ) =  
−2s 0.6
s 1.2 −13.72s 0.6
Fractional Model of 2D Gantry Crane

For α = 0.3  
0.4s 0.6 +4
s 1.2 +13.7s 0.6
H(s 0.3 ) =  
−0.4s 0.6
s 1.2 +13.7s 0.6
Fractional Model of MLV

For α = 0.1
0.1s 0.2 +0.24 −0.03
!
0.1 s 0.4 +1.64s 0.2 s 0.2 +1.64
H(s )=
−0.01 −0.004
s 0.2 +1.64 s 0.2 +1.64
Fractional Model Predictive Controller

Choosing α = 0.2, 0.3, 0.5, 0.8, 1 to design FMPC for POAC system
Controller Response Comparison Table
Specification Settling Time (Sec)
α x(t) θ(t)
0.2 0.49 0.84
0.3 0.42 0.64
0.5 1.03 1.40
0.8 1.01 1.77
1 3.15 3.55
FMPC for 2D Gantry Crane System

Choosing α = 0.3, 0.5, 0.8, 1 to design FMPC for 2D Gantry Crane System
Comparison Table 2D Gantry Crane System
Specification Settling Time (Sec)
α x(t) θ(t)
0.3 0.8 16
0.5 0.8 3.5
0.8 0.8 5
1 3.8 4
Fractional Model Selection Algorithma

a
Singh, Abhaya Pal et al., On selection of improved fractional model and control of different systems with
experimental validation, Communications in Nonlinear Science and Numerical Simulation, 2019.
STEPS:
(i) Insert the transfer function of integer model
(ii) Convert the model obtained in Step (i) to exponent of α
(iii) Vary exponent α as per the decimal place requirement
(iv) Design controller for the model obtained in Step (iii)
(v) Read the desired specification of Step (iv) and store
(vi) Compare the specifications and choose the best
(vii) Display the best fractional model
Applying proposed algorithm on Zaho et al. Modela
a
Zhao et al., A fractional order PID tuning algorithm for a class of fractional order plants, IEEE International
Conference Mechatronics and Automation, 2005.
Zaho et al. Fractional Model 1

G (s) = .
0.8s 2.2 + 0.5s 0.9 + 1
Obtained by proposed Algorithm
1
G1 (s) =
0.7414s 0.2 + 0.2313s 0.1 + 1
1
G2 (s) =
0.7414s 0.14 + 0.2313s 0.07 + 1
Response Comparison with Zhao et al. Model

Specification Zaho’s Proposed Algorithm
Model
α = 0.1 α = 0.07
Settling 1 0.15 0.13

Time (sec) (86.86%) (85%)
% Overshoot 20 No No
Applying proposed algorithm on Mingda et al. Model
Mingda et al. Fractional Model
1
G (s) =
14994s 1.31 + 6009.5s 0.97 + 1.69
Obtained by proposed Algorithm
1
G1 (s) =
73043s 1.4 + 4893s 0.7 + 1.93
1
G2 (s) =
73043s 1.38 + 4893s 0.69 + 1.93
Response Comparison with Mingda et al. Model

Specifications Mingda’s Model Proposed Algorithm
ADRC Con- PID Control α = 0.7 α = 0.69

trol
Settling 50 400 24.9 (50.2% wrt 14 (72% wrt

Time (sec) ADRC & 93.8% ADRC & 96.5%
wrt PID) wrt PID)
% Overshoot No 18 3.12 0.3
2 Degrees of Freedom Serial Link Robotic Manipulator
2 Degrees of Freedom Serial Joint Robotic Manipulator
Transfer Function of Serial Link Robotic Manipulator

140.5s 2 + 3.293 × 104
θ11L (s) =
s 4 + 62.95s 3 + 863.3s 2 + 1.476 × 104 s
290s 2 + 3800s + 306880
θ21L (s) =
s4 + 540s 3 + 9891s 2 + 52914s
Transfer Function of Serial Joint Robotic Manipulator

140s 2 + 42.77s + 5470
θ11J (s) =
s4 + 70.91s 3 + 201.8s 2 + 2801s
248.2s 2 + 652.8s + 92560
θ21J (s) =
s 4 + 145.2s 3 + 1889s 2 + 56200s
Fractional Model of Serial Link Robotic Manipulator

140.5s 0.6 + 32930
θ11L (s 0.3 ) =
s 1.2 + 62.95s 0.9 + 863.3s 0.6 + 14760s 0.3
290s 1.6 + 3800s + 306880
θ21L (s 0.9 ) =
s 3.6 + 540s 2.7 + 9891s 1.8 + 52914s 0.9
Fractional Model of Serial Joint Robotic Manipulator

140s 1.8 + 42.77s 0.9 + 5470
θ11J (s 0.9 ) =
s 3.6 + 70.91s 2.7 + 201.8s 1.8 + 2801s 0.9
248.2s 1.8 + 652.8s 0.9 + 92560
θ21J (s 0.9 ) =
s 3.6 + 145.2s 2.7 + 1889s 1.8 + 56200s 0.9
Controller Design
(i) IO Controller design for IO Model
(ii) FO Controller design for IO Model
(iii) IO Controller design for FO Model
(iv) FO Controller design for FO Model
Controller Design for IO Model of Serial Link Robotic Manipulator

IO Controller
50
C (s)Link1 = 70 + + 0.23s
s
90
C (s)Link2 = 15.5 + + 0.25s
s
FO Controller
C (s)Link1 = 4.5 + 10s −0.1 + 0.23s 0.5
C (s)Link2 = 10.6 + 8s −0.5 + 0.25s 0.5
Controller Response
Controller Design for IO Model of Serial Joint Robotic Manipulator
95
IO Controller C (s)Joint1 = 21 + + 0.2s
s
113
C (s)Joint2 = 25 + + 0.22s
s
−0.5
FO Controller C (s)Joint1 = 20 + 2s + 0.1s 0.5
C (s)Joint2 = 16 + 37s −0.5 + 0.3s 0.5
Controller Response
Controller Design for FO Model of Serial Link Robotic Manipulator
20
IO Controller C (s)Link1 = 8.8 + + 0.01s
s
3
C (s)Link2 = 11 + + 0.06s
s
FO Controller C (s)Link1 = 70 + 50s −0.2 + 0.23s 0.8
C (s)Link2 = 15.5 + 90s −0.1 + 0.25s 0.9
Controller Response
Bibliography
Machado JT, Azenha A. Fractional-order hybrid control of robot manipulators. InSMC’98

Conference Proceedings. 1998 IEEE International Conference on Systems, Man, and
Cybernetics (Cat. No. 98CH36218) 1998 Oct 11 (Vol. 1, pp. 788-793). IEEE.
Silva MF, Machado JT. Fractional Order PDJoint Control of Legged Robots. Journal of
Vibration and Control. 2006 Dec;12(12):1483-501.
Monje CA, Ramos F, Feliu V, Vinagre BM. Tip position control of a lightweight flexible
manipulator using a fractional order controller. IET Control Theory Applications. 2007
Sep 1;1(5):1451-60.
Luo Y, Chen Y. Fractional order [proportional derivative] controller for a class of fractional
order systems. Automatica. 2009 Oct 1;45(10):2446-50.
Delavari H, Ghaderi R, Ranjbar NA, HosseinNia SH, Momani S. Adaptive fractional PID
controller for robot manipulator. arXiv preprint arXiv:1206.2027. 2012 Jun 10.
Barbosa RS, Machado JT, Jesus IS. Effect of fractional orders in the velocity control of a
servo system. Computers Mathematics with Applications. 2010 Mar 1;59(5):1679-86.
Fayazi A, Rafsanjani HN. Fractional order fuzzy sliding mode controller for robotic flexible
joint manipulators. In2011 9th IEEE International Conference on Control and Automation
(ICCA) 2011 Dec 19 (pp. 1244-1249). IEEE.
Bibliography
Luo Y, Chen Y, Pi Y. Experimental study of fractional order proportional derivative

controller synthesis for fractional order systems. Mechatronics. 2011 Feb 1;21(1):204-14.
BİNGÜL Z, KARAHAN O. Fractional PID controllers tuned by evolutionary algorithms for
robot trajectory control. Turkish Journal of Electrical Engineering Computer Sciences.
2012 Nov 21;20(Sup. 1):1123-36.
Özbay H, Bonnet C, Fioravanti AR. PID controller design for fractional-order systems with
time delays. Systems Control Letters. 2012 Jan 1;61(1):18-23.
Zhao C, Xue D, Chen Y. A fractional order PID tuning algorithm for a class of fractional
order plants. In IEEE International Conference Mechatronics and Automation, 2005 2005
Jul 29 (Vol. 1, pp. 216-221). IEEE.
Li M, Li D, Wang J, Zhao C. Active disturbance rejection control for fractional-order
system. ISA transactions. 2013 May 1;52(3):365-74.
Tavazoei MS, Haeri M. Stabilization of unstable fixed points of chaotic fractional order
systems by a state fractional PI controller. European Journal of Control. 2008 Jan
1;14(3):247-57.
Thank you !!!
Confessions of a Fractional Calculus Researcher

As soon as I see integer-order derivatives in an equation, I replace
them with the fractional ones. Then, I start worrying about the
motivation for the replacement.

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On selection of improved fractional model and control

of different systems with experimental validation

Abhaya Pal Singh

December 22, 2021

Master of Technology (2012)

Bachelor of Technology (2009)

where, Γ(m + 1) = mΓ(m) = m!.

where, Γ(m + 1) = mΓ(m) = m!.

where, Γ(m + 1) = mΓ(m) = m!.

where, Γ(m + 1) = mΓ(m) = m!.

Popular books on fractional order systems and control

Stability region of fractional LTI systems

Fractional Modeling of Single Link Robotic Manipulator

Fractional Modeling of Single Link Robotic Manipulatora

Fractional Model Validation of Single Link Manipulator

Fractional Model of 2D Gantry Crane

Fractional Model of MLV

Fractional Model Predictive Controller

Specification Settling Time (Sec)

0.2 0.49 0.84

0.3 0.42 0.64

0.5 1.03 1.40

0.8 1.01 1.77

FMPC for 2D Gantry Crane System

Comparison Table 2D Gantry Crane System

Specification Settling Time (Sec)

0.5 0.8 3.5

Fractional Model Selection Algorithma

Zaho et al. Fractional Model 1

Response Comparison with Zhao et al. Model

Settling 1 0.15 0.13

Response Comparison with Mingda et al. Model

ADRC Con- PID Control α = 0.7 α = 0.69

Settling 50 400 24.9 (50.2% wrt 14 (72% wrt

% Overshoot No 18 3.12 0.3

2 Degrees of Freedom Serial Joint Robotic Manipulator

Transfer Function of Serial Link Robotic Manipulator

Transfer Function of Serial Joint Robotic Manipulator

Fractional Model of Serial Link Robotic Manipulator

Fractional Model of Serial Joint Robotic Manipulator

Controller Design for IO Model of Serial Link Robotic Manipulator

Machado JT, Azenha A. Fractional-order hybrid control of robot manipulators. InSMC’98

Luo Y, Chen Y, Pi Y. Experimental study of fractional order proportional derivative

Confessions of a Fractional Calculus Researcher

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