Year: 2025
Type: article
Abstract: This article presents a comparison between a classical PID controller and a fractional-order PID (FOPID) controller for a gyroscope with Cardan suspension (3 DOF). A gyroscope dynamics model accounting for gyroscopic couplings and viscous damping is adopted, while the FOPID controller is implemented in discrete form using the Grünwald–Letnikov (GL) operator, which reduces smoothly to the classical PID when λ = μ = 1. The effectiveness of both strategies is assessed in a moving-target tracking task using the IAE (tracking accuracy) and ISC (control effort) indices. MATLAB/Simulink R2025a simulations (ode4, Δt = 2 × 10−4 s) show that, under cross-axis couplings of the gyroscope suspension, FOPID yields smaller tracking errors and smoother control signals than PID. The results indicate the usefulness of fractional-order controllers in gyroscope control systems and provide a basis for further experimental studies.
Source: Applied Sciences
DOI: 10.3390/app151910476
Authors: Izabela Krzysztofik, Slawomir Blasiak
Institution: Kielce University of Technology
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,896
OpenAlex ID: W4414615170