Modeling and Control of Robotic Manipulators: A Fractional Calculus Point of View
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27240%2F21%3A10248080" target="_blank" >RIV/61989100:27240/21:10248080 - isvavai.cz</a>
Result on the web
<a href="https://www.springerprofessional.de/en/modeling-and-control-of-robotic-manipulators-a-fractional-calcul/18877320" target="_blank" >https://www.springerprofessional.de/en/modeling-and-control-of-robotic-manipulators-a-fractional-calcul/18877320</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/s13369-020-05138-6" target="_blank" >10.1007/s13369-020-05138-6</a>
Alternative languages
Result language
angličtina
Original language name
Modeling and Control of Robotic Manipulators: A Fractional Calculus Point of View
Original language description
This paper deals with the fractional-order modeling, stability analysis and control of robotic manipulators, namely a single flexible link robotic manipulator (SFLRM) and 2DOF Serial Flexible Joint Robotic Manipulator (2DSFJ). The control law is derived using Pole Placement (PP) method. This paper uses Mittag-Leffler function for the analysis of SFLRM in the time domain. The stability analysis of the fractional model is carried in a transformed Omega-Domain, and from the analysis, it is observed that the response of the fractional model of SFLRM robotic manipulator is stable. The main motive behind this analysis is to understand the fractional behavior of robotic manipulators, and it is well known from literature that most of the real-world systems have their own fractional behavior. Furthermore, a real-time SFLRM and 2DSFJ setups are considered to validate the results obtained and it is found that the control law suggested by PP method improves the settling time of the robotic manipulators.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20205 - Automation and control systems
Result continuities
Project
<a href="/en/project/EF16_019%2F0000867" target="_blank" >EF16_019/0000867: Research Centre of Advanced Mechatronic Systems</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
Arabian Journal for Science and Engineering
ISSN
2193-567X
e-ISSN
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Volume of the periodical
46
Issue of the periodical within the volume
10
Country of publishing house
DE - GERMANY
Number of pages
12
Pages from-to
9541-9552
UT code for WoS article
000616885800001
EID of the result in the Scopus database
2-s2.0-85100782756