Abstract
Conference Title: 2018 15th International Multi-Conference on Systems, Signals & Devices (SSD) Conference Start Date: 2018, March 19 Conference End Date: 2018, March 22 Conference Location: Yassmine Hammamet, Tunisia The contribution in this work deals with non integer (or fractional) order controller and prefilter parameters regulation. A multiobjective optimization of fractional order controller is treated to solve the problem of multivariable systems in path tracking design. After the controller tuning a fractional prefilter of type FBLFD is designed in order to put the closed loop system into a desired bounds. These two developed fractional order controller and prefilter presented its robustness and flexibility compared to previous developed methodologies. To validate and demonstrate the efficacy of proposed approach, a robot model is considered.