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

摘要

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.