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In path planning, potential fields introduce force constraints to ensure curvature continuity of trajectories and thus to facilitate path-tracking design. In previous works, a path planning design by fractional (or generalized) repulsive potential has been developed to avoid fixed obstacles: danger level of each obstacle was characterized by the fractional(More)
This paper presents a new design method of a fractional order PI (FO-PI) for time delay systems based on the min-max numerical optimization. The proposed method uses a constrained optimization algorithm to determine the unknown parameters of the controller and has an objective to improve the transient response, stability margin, stability robustness and(More)
The paper deals with fractional residual evaluation. Three methods to evaluate fractional residuals generated by dynamic parity space method are presented. They are based on the fractional derivative approximations: the Grunwald, the pole-zero and the Diethelm approximations. They are compared in order to select the best method in terms of precision and(More)
This work is devoted to the stability and resonance study of the elementary fractional transfer function of the third kind. Some basic properties of this transfer function which is written in the canonical form and characterized by a non commensurate order, a pseudo-damping factor and a natural frequency, are presented. A resonance and stability condition(More)
This paper deals with a new design method of a fractional PID controller. The proposed method is based on a numerical constrained Min-Max optimization algorithm. Its main objective is the improvement of the transient response, the stability margin, the robustness and the load disturbance rejection capability. All these performances are tested through a(More)
This paper deals with Fractional Complex Order Controller FCOC tuning. The paper presents new structure of FCOC with the form PI<sup>x</sup>&#x002B;<sup>iy</sup>D, in which x and y are the real and imaginary parts of the integral complex order, respectively. With the controller's five parameters, we can fulfil five design requirements. Design specifications(More)