An event based implementation of a fractional order controller on a non-Newtonian transiting robot

Fractional order control is an emerging topic in the field of control engineering due to its numerous advantages. Many control strategies such as the Proportional Integral Derivative, Internal Model Control, robust or predictive controllers have a generalization into the fractional calculus theory or offer fractional order implementation possibilities. The present study tackles the event-based implementation of fractional controllers. The task is complex due to the higher orders needed to approximate fractional elements and the scarce availability of direct discretization methods for fractional operators. The proposed strategy is validated through simulations on a scalable nanorobot designed to transit non-Newtonian environments. The event-based algorithm implements a Fractional Order Proportional Derivative (FOPD) that controls the position of the nanorobot, validating the presented solution for implementing fractional order event based controllers.