Fractional Modeling and Controller Design of Robotic Manipulators: With Hardware Validation

ISBN-13: 9783030582463 / Angielski / Twarda / 2020 / 138 str.

Abhaya Pal Singh; Dipankar Deb; Himanshu Agrawal

Spis treści

Introduction.- Fractional Modeling of Robotic Systems.- FOPID Controller design for IO Model of Robotic Systems.

Blurb

This book at hand is an appropriate addition to the field of fractional calculus applied to control systems. If an engineer or a researcher wishes to delve into fractional-order systems, then this book has many collections of such systems to work upon, and this book also tells the reader about how one can convert an integer-order system into an appropriate fractional-order one through an efficient and simple algorithm. If the reader further wants to explore the controller design for the fractional-order systems, then for them, this book provides a variety of controller design strategies. The use of fractional-order derivatives and integrals in control theory leads to better results than integer-order approaches and hence provides solid motivation for further development of control theory. Fractional-order models are more useful than the integer-order models when accuracy is of paramount importance. Real-time experimental validation of controller design strategies for the fractional-order plants is available. This book is beneficial to the academic institutes for postgraduate and advanced research-level that need a specific textbook on fractional control and its applications in srobotic manipulators. The book is also a valuable teaching and learning resource for undergraduate and postgraduate students.