Fractional Order Control of the 3-CPU Parallel Kinematics Machine

Luca Bruzzone and Pietro Fanghella


Control, Mathematical Modelling and Simulation, Fractional Calculus, Parallel Kinematics Machine


The paper deals with the application of a fractional-order position control scheme to a parallel kinematics machine, the 3-CPU platform. In particular, the PDD1/2 control scheme, which exploits the half-derivative term in combination with the proportional and derivative ones, is applied to control the positions of the three linear actuators. A nondimensional approach is used for sake of generality. The results of the multibody simulations show that this control scheme can reduce the tracking error with respect to the classical PD scheme using the same settling energy.

Important Links:

Go Back