Design and implementation of novel fractional-order controllers for stabilized platforms

Abstract

As a position servo system to isolate disturbance from its carrier, stabilized platform requires high-precision and high-adaptability control. However, conventional integer-order PID (IOPID) control fails to meet that requirement. In this paper, a new controller design scheme is proposed for stabilized platform based on fractional calculus. The designed controller is called fractional-order PID (FOPID) controller, which has two extra parameters compared to conventional PID controller. On one hand, it provides more degrees of freedom to design FOPID controller. On the other hand, its differential order and integral order provides more flexibility to tune the controller performance. Therefore, a design method of FOPID controller based on dynamic software modeling is presented. To obtain the ideal controller's parameters, the particle swarm optimization (PSO) bionic algorithm is used to optimize an objective function. In addition, software simulation platform and hardware experiment system are built to design and test the FOPID controller. Finally, the results of simulation and experiment are included to show the effectiveness of the new control method.