Intelligent and fractional-order PID control with ultra-local model estimation: Application to industrial electro-hydraulic systems
Control Engineering Practice, cilt.175, 2026 (SCI-Expanded, Scopus)
- Yayın Türü: Makale / Tam Makale
- Cilt numarası: 175
- Basım Tarihi: 2026
- Doi Numarası: 10.1016/j.conengprac.2026.107090
- Dergi Adı: Control Engineering Practice
- Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus, Compendex, INSPEC
- Anahtar Kelimeler: Electro-hydraulic system, FOPID, Fractional order PID, iFOPID, Intelligent control, Intelligent FOPID, iPID, Model-free control, Particle swarm optimization
- Karadeniz Teknik Üniversitesi Adresli: Evet
Özet
Electro-hydraulic systems (EHS) offer high power density and stiffness but present major control challenges due to nonlinearities, parameter variations, and unmodeled dynamics. Conventional PID controllers remain widely used for their simplicity but struggle to maintain performance under such conditions. This paper introduces a novel intelligent fractional-order PID (iFOPID) controller that combines the robustness of model-free control with the tuning flexibility of fractional-order dynamics. The controller's stability is analyzed under the ultra-local model assumption and experimentally validated on an industrial EHS. Four control strategies (PID, FOPID, iPID, and iFOPID) are optimized using particle swarm optimization (PSO) based on a simplified nonlinear model that intentionally omits friction dynamics. This omission of a major structural nonlinearity is deliberate, serving to introduce a realistic model-plant mismatch for evaluation. Experimental results show that the proposed iFOPID maintains superior tracking consistency and robustness compared to other controllers, demonstrating its potential as a practical and high-performance solution for uncertain nonlinear EHS applications.