Fractional order multicontroller design applied

to control the wrist of a Robot Manipulator

Youcef ZENNIR1 Adel MAKHBOUCHE2
Automatic Laboratory of Skikda Automatic Laboratory of Skikda
Skikda Univesity, Skikda Univesity,
Skikda 21000, Algeria Skikda 21000, Algeria
youcef.zennir@univ-skikda.dz adel.makhbouche@univ-skikda.dz

Lekhdar BOURAS3 Riad BENDIB4

Electrical Engineering Laboratory of Skikda Automatic Laboratory of Skikda
Skikda University, Skikda Univesity,
Skikda 21000, Algeria Skikda 21000, Algeria
l.bouras@univ-skikda.dz Riad.bendib@univ-skikda.dz

Abstract the paper presents a new multi-controllers

approach applied to control the wrist of a robot manipulator
(Staubli RX-90). A brief overview of the process with non-linear
and linear mathematical modeling. Principle of multi-controllers
approach is briefly presented. Our new proposals concerning the
type of the controllers used in the multi-controller approach,
which are robust fractional order controllers (as FOPID and
FOPI) to improve the robustness of the control. Two
approximation methods used to approximate the fractional order
(recursive approximation method (ORA) of Oustaloup for
FOPID and singularity function method of Charef for FOPI).
Controllers synthesis with the principle of approximation
methods is presented. Different simulations were performed to
illustrate the effectiveness of the new multi-controllers structures Fig. 1. Structure of muli-controller approach of control.
and also to differentiate approximations methods with the
settings parameters controller and the approximation order, To tracking correct of the trajectory, the control error must
followed by a conclusion and some perspectives for future work. be calculated between output of process and reference model.
Different solution can be envisaged to obtained the command
KeywordsModeling, Robot Manipulateur, CRONE Control, signal applied on process [1][18]:
Apporximaion fractional order methods, FOPID, FOPI.

I. INTRODUCTION (HEADING 1) Frank Switching between controllers: in this case, for

Invariant linear model for a physical process can only be an
approximation. Indeed, the physical process behavior has
generally many non-linearity [5] that are not taken into account
in the modeling process. In the each operating point
(equilibrium point) of the physical process we can developed a
local linear model. Two ways can be used to derive these
linear models the first is based on the priori knowledge of the
process and the second method using identification. Then the
objective of multi-controller control approach (Balakrishnan
1997)[1] is to control the process in operational space using the
local information [2][3]. The object of the multi-controllers
control approach is to control the process output in the
variation space of the parameters using commands developed
by the various local controllers. The diagram block of the
multi-controllers control approach is represented as follows:
each instant only one controller used to develop the
command signal applied on process.
Fuzzy switching between controllers: in this case, for
each instant all controllers used to develop the
command signal (ponderation sum of all local command
signals) applied on process.
We focus in this study on the use of frank switching
controllers. The multi-controller control approach is used to
specify [7][8]:
Controllers Structure's and switching type's [7][4].
Different solutions are possible such as:
FOPID, FOPI, RST and Adaptive controllers [11]
[6][2].
 Frank or fuzzy switching [8][9][10] and Direct or The motor torque is given by: = () (3)
indirect approach [7].
Ke: is the torque constant and u (t) the voltage applied in
In our work we have choose the use of an indirect approach process. Then the nonlinear model is given by:
based on fractional-order local controllers like PID (or PI) 1 () = ()
() = [ ] 1 () = 2 () (4)
and frank switching to control the wrist of robot manipulator 2 () = ()
(Staubli robot RX 90). We propose in the first step in the m (t) x1 (t)
following figure, the diagram block modified of multi- yp (t) = s (t) = = (5)
N N
controller approach of control.
This is the state space representation for the nonlinear
model. To find the linear structure of local parametric models,
we applied the tangent linearization methods and the linear
local model is as follows [18]:
Kp
() = (6)
p2 +ap1 p+ap2

After identification of the linear system near operating

point s0=0 [18]. The corresponding continuous linear model
is as follows:

operating points, s0=0 :

111.5
() = (7)
Fig. 2. Structure of control using muli-controller approach. 2 +11.25+79.14

II. PROCESSUS MODELING operating points, s0=/3 and s0=2/3 respectively:

The Robot manipulator Stubli Rx-90 has coupling 111.5 111.5
G(p) = ; (p) = (8)
between axis 5 and 6. The actuators are brushless motors and p2 +11.25p+39.57 p2 +11.25p39.57
the engine control uses the rotor position to magnetic flux
rotate to achieve desired torque value and generally this motor
as a DC motor behave [7][8]. Our process corresponds to a III. LOCAL CONTROLLEURS STRUCTURES
wrist of a robot (axis 6) can be represented by the following The structure type of the local controllers is Fractional
figure: order controller P and P . In control theory, the general
conclusion about fractional control system is that it could
enlarge the stability region and robustness [14] moreover it
gives performance at least as good as its integer counterpart. In
the other hand another important advantage is that fractional
integrals or derivatives are hereditary functional while the
ordinary ones are point functional. Here we should mention
that for Fractional order PID or PI controllers, many
contributions and studies are presented in the past years [15],
particularly in the tuning rules [16],[ 17], approximation [19]
and stability conditions [20]. In generally Fractional-order
calculus is an area of mathematics that deals with derivatives
and integrals from non-integer orders. In other words, it is a
generalization of the traditional calculus that leads to similar
concepts and tools, but with a much wider applicability. In
Fig. 3. Process (wrist of a robot) model. recent years, according to the advances in the field of fractional
calculus, there had been a great interest to develop a new
Mathematic Process dynamic model is given by the generation of PID (PI) controllers, which is commonly known
following equations: as the fractional- order PID (FOPID) or P controller. The
+.2 transfer function of a FOPID controller, which was initially
= ( + 2 ) + ( + 2 )

(1)
proposed by Podlubny in 1999 [14][24], is given by:
+.2
With: = ( + ) and = ( + ) (2)
2 2 () 1
() = = + + , (, > 0) (9)
()
Jm, Js: Inertia moment applied in the motor shaft and the
output shaft (output shaft with mass) respectively. Where Kp,KI, KD R and , R+ are the tuning
m, s : Viscous friction applied in the motor shaft and the parameters and the controller design problem is to determine
output shaft respectively. the suitable value of these unknown parameters such that a
predetermined set of control objectives is met [19]. Note that

in (9) if Kd=0 we find FOPI controller. We can note too that 2 = 2
=0 () () (18)
the fractional order of the Laplace variable p are commonly With: yi: derived from the transfer function Gp(s) compared to
interpreted in the time domain using the PI Grunwald- the variable s at the point u; N: many samples.
Letnikov, Riemann-Liouville or the Caputo definition [30]. It
should be noted that any conventional PID controller is a
particular case of the FOPID controller (9) with =1 and =1. Step 3: calculate the parameters xi for 0 i 2
.
Assuming =1 and =0, or =0 and =1 respectively 0 = (10 ) 1 = (11 )2 0 1 (19)
0 0 0 0 0
corresponds conventional or PD controllers are the special
cases of the fractional PID controller given by (9). Many 2 21 2 2.1 .1 +0 .2
2 = + (20)
methods in literature has been proposed for FOPID 0 (10 )2 0 (10 )3 0
approximation [19]. In this work we used two approximation
method of p. The first is Oustaloup recursive approximation
method (ORA) applied in FOPID controller [20] [23] and With: xi: derived from the controller transfer function C (p)
second is singularity function method of Charef [19] applied
in FOPI controller. In the first method, the fractional-order
differentiator p , R+ is approximated as: Step 4: calculate the parameters Kc, Ti,
() = , + (10)
By a following rational function: .2 (1+) .1
= 1 , = , = 0 . (21)
1
1+

() =
= (11) Concerning the approximation of fractional action we used
1+
the approximation method developed by Charef [22]. The
With: 0 = 0.5 ; 0 = 0.5 ; transfer function in closed loop for rotors speed is regarded as
stable. The problem systems design is thus to regulate the
+1 +1
= = > 1 (12) three parameters of fractional controller to guarantee that the

transfer function in closed loop behaves the frame of reference

+1 log( ) which itself answers the specifications of the fractional control
0
= > 0; = > 0; = ; (13) system (transfer function in closed loop). The frame of
log()
reference fractional model used is:
log
= log() (14) 1
() =
1 < < 2 (22)
1+( )
With being the unit gain frequency and the central

frequency of a band of frequencies geometrically distributed The transfer function of reference model is given by the
around it .That is, = , where , are the high and following function:
2
the low transitional frequencies. The parameters used in the () = (+)2 () = () () (23)
Oustaloup approximation are:
2
With: () = (24)
G (p): Transfer function of local model of process. 2 +1 +0

N: Approximation order.
r1=- & r2=: Integration & derivative order IV. SIMULATION
respectively.
The simulation is done in continuous time around the
l=10-2; low transitional frequency following operating points s0=0rad, s0=/3rad and
h=103; high transitional frequency s0=2/3rad. the parameters (Kp, Ki, Kd) of FOPID and FOPI
u=10; Cutoff frequency are by determined with =1 and =1. The FOPID and FOPI
For the adjustment fractional parameters controller PI (Kc, structure is represented by the following figure.
Ti, ) we us the following algorithm [22][23]:
Step1: calculate the parameters i for 0 i 2
1
0 = , 1 =2
, 2 =
42 4
(15)

u: frequency of the profit unit of the reference model; m: the

derivation fractional order of the reference model; i: derived
from the transfer function of the reference model Gd (p)
Step 2: calculate the parameters yi for 0 i 2

0 =
=0 () (16) Fig. 4.Diagram Block of FOPID and FOPI controller.

The simulation parameters around the operating points
1 =
=0() () (17) chosen are:
 TABLE I. PARAMETERS OF THE LOCAL CONTROLLER

PID (N=5, = =0.5) PI (= 0.5)

s=0 Kp=-2, Ki=-5, Kd=-0.7 Kp=-20, Ki=5
s=/3 Kp=-2, Ki=-0.4, Kd=-0.4 Kp=-25, Ki=3
s=2/3 Kp=-3, Ki=0.1, Kd=-0.4 Kp=-35, Ki=0.5

The simulation is organized as is:

Each FOPI applied to control the nonlinear model
(process). Fig. 7. Pole Zero map for closed loop. (s=0)
Variation of simulation parameter (approximation
order) and the Fractional order.
We applied the same simulation with each FOPID
controller.

The object of this simulation is the illustration of fractional

order controller efficiency and the stability of closed loop
control. Comparison between FOPID and FOPI controllers.
Finally the effect of approximation method in control lows.
The simulation around the operating point s0=0 rad. For the Fig. 8. Pole Zero map for closed loop. (s =/3)
validation of the use of these parameters the controller around
the operating point s0=0rad, the reference signal r (t) is equal
to:

() = 0.1 (5) (25)

.Fig. 9. Pole Zero map for closed loop. (s=2/3)

Fig. 5. Control error ec (t). with FOPI controller

Fig. 10. Frequency response of each local FOPI Controller.

Fig. 6. Outputs of the process and the reference model with FOPI controller.
Fig. 11. Frequency response of each closed loop local system with FOPI.
 Fig. 16. Pole Zero map for closed loop. (s=2/3) with FOPID controller.
Fig. 12. Control error ec (t) with FOPID controller.

Fig. 17. Frequency y response of each local FOPID controller.

Fig. 13.Output of process and reference model with FOPID controller.

Fig. 18. Frequency response of each closed loop local system with FOPID.
Fig. 14. Pole Zero map for closed loop. (s =0) with FOPID controller.

Fig. 15. Pole Zero map for closed loop. (s =/3) with FOPID controller. Fig. 19. Error control with FOPID and FOPI controller in (s=0).
 With the obtained results with the FOPI we can noted:
Each local system is stable (fig.7, fig.8 and fig.9) and error
control given by closed loop system around s0=0 is very
small compared other local system (fig.5, fig.6)
The closed output loop of the local system around s0=0 has
the same curve although the output of the reference model
compared with other local system (fig.5.b, fig.6.b, fig7.b).
The local controller around s0=0 is more robust
compared with other local controller fig.10 and more stable in
closed loop system fig 11 and the order of FOPI controller
equal 4 and 6 for closed Function transfer loop.
With the obtained results with FOPID controller we can
observed that:
The same illustrated results with the FOPI controller on
stability, robustness and precision (fig.12 until fig.18).
The order of FOPID controller equal 22 and 24 for
closed Function transfer loop
The order of FOPID controller equal :
N=1 N=2 N=3 N=4 N=6
order 6 10 14 18 22
We also found that the change of and don't affect the
order controller.
V. CONCLUSION
In this work, we have presented the modeling of nonlinear
process (wrist of RX90 Stubli Robot). After that the local
linear model near each considered operating points has been
calculated. We have describe the Fractional-order PID and PI
controller principal with Oustaloup recursive approximation
method (ORA) and method of Charef (singularity function
method) respectively. After simulation we noted that the
application of CRON structure control is very interesting in this
case of system but we need more optimal approximation for
order minimization and chose of FOPID or of PI parameters.
The results obtained allow concluding that the local controllers
give good results around the operating points. The results
obtained allow concluding too that the results obtained with
FOPID are more interesting as compared FOPI. But the results
are local. Therefore, we must seek a collaborative approach
these local control laws to obtain good results in all operating
space. Finally we will study at the future work other
approximation Fractional-order controller method with
optimization chose of parameters controller. And frank
switching with the indirect approach (collaboration between
controller), then the same category with other type of controller
as example Digital Fractional - order PID controller or RST
controller.
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