Enhanced Performance in Trajectory Tracking of a Ball and Plate System using Fractional Order Controller

ABSTRACT

This paper presents a comparative analysis of performance between integer order proportional derivative (IOPD) and fractional order proportional derivative (FOPD) controllers for the trajectory tracking of a ball in ball and plate system. The controllers are designed minimising integral square error using Bat Algorithm, Gravitational Search Algorithm, and Firefly Algorithm. Effectiveness of the controllers is tested by the ability of the ball to track a circular, square, cardioid, and star shaped trajectories. Results verify that FOPD outperforms IOPD when tuned by the same algorithm. Comparisons with reported works show that the proposed controllers provide fairly improved results.

KEYWORDS:

• Ball and plate system
• Bat algorithm
• Firefly algorithm
• Fractional order PD
• Gravitational search algorithm
• Trajectory tracking

DISCLOSURE STATEMENT

No potential conflict of interest was reported by the authors.

Additional information

Notes on contributors

Manashita Borah

Manashita Borah received the Bachelor of Engineering and Master of Technology degrees in electrical engineering in 2012 and 2014, respectively. She is presently an assistant professor in Tezpur University, Assam, India, and pursuing her PhD in control systems in NIT, Silchar, Assam, 788010, India. Her prime research interests include fractional chaotic systems, nonlinear dynamics, fractional order controllers, analog circuit design, etc.

E-mail: [email protected]

Prasanta Roy

Prasanta Roy received the Integrated BTech and MTech degree in electrical engineering and instrumentation, respectively, from IIT Kharagpur in 2006. Currently, he is an assistant professor in the Electrical Engineering Department of NIT Silchar, Assam, India. His expertise lies in the control systems design, fractional order control, industrial automation, etc.

E-mail: [email protected]

Binoy Krishna Roy

B. K. Roy received the BE degree in electrical engineering from NITS in 1985, and M.Tech. and PhD degrees from IIT Kharagpur in 1989 and 1998, respectively. Currently, he is a professor in the Electrical Engineering Department of NIT Silchar, Assam, India. His expertise lies in the areas of control systems, virtual instrumentation, fault detection and diagnosis of dynamical systems, image processing and computer vision, etc.

E-mail: [email protected]