Publication

Abstract : PID controllers have long been the cornerstone of industrial automation and robotics due to their simplicity and effectiveness. However, the primary challenge in using PID control for the speed of serving robots is its inefficiency in dynamic environments. Therefore, this paper proposes an extended version of PID in both traditional and fractional forms, augmented with higher-order derivative terms, for enhanced speed control. The extended controllers will be incorporating second and third derivative actions (PIDD2, PIDD2D3) and their fractional counterparts (PIλDμ,PIλDμDμ2,PIλDμDμ2Dμ3),. The proposed controllers are designed for a one-wheel serving robot using a simplified transfer function model. The performance analysis under fixed and variable set-points, as well as disturbance rejection, demonstrates that the PIλDμDμ2Dμ3 controller achieves the best time-domain metrics, including minimal rise time (0.1225 s), reduced overshoot (20.8%), and improved stability. Results confirm that integrating fractional orders with higher-order derivatives significantly enhances control robustness and responsiveness compared to traditional PID designs.