PSO tuned cascade of fractional order PI - fractional order PD for Pneumatic positioning system

Abstract

This research introduces a novel Cascade Fractional-Order Proportional-Integral-Derivative (CFOPID) controller to increase the performance of the Intelligent Pneumatic Actuator (IPA) positioning system. To represent the IPA system, a system identification criterion was used. The CFOPID controller is based on combining Fractional Order PI and Fractional Order PD in a cascade arrangement. The Particle Swarm Optimization (PSO) algorithm is presented for optimizing the gains of the CFOPID controller by reducing the Integral of Square Error (ISE) objective function in order to achieve to best possible performance of the suggested control scheme. The proposed controller’s superiority is demonstrated by comparing the obtained results with those obtained from employing the classical PID and FOPID based PSO. The simulation findings indicate that the CFOPID controller outperforms the FOPID and PID controllers in terms of transient response and error minimization.