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RISOutput Feedback Fractional Integral Sliding Mode Control of Robotic Manipulators
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The dynamic model of a robotic system is prone to parametric and structural uncertainties, as well as dynamic disturbances, such as dissipative forces, input noise and vibrations, to name a few. In addition, it is conventional ...
Output Feedback Fractional Integral Sliding Mode Control of Robotic Manipulators
Publisher: American Society of Mechanical Engineers (ASME)
Abstract: The dynamic model of a robotic system is prone to parametric and structural uncertainties, as well as dynamic disturbances, such as dissipative forces, input noise and vibrations, to name a few. In addition, it is conventional ...
Discrete-Time Adaptive Fractional Nonlinear Control Using Fuzzy Rules Emulating Networks
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The goal of this paper is to design a robust controller that relies only on input–output data to enforce robust tracking, when considering a large class of uncertain nonlinear system. The discrete-time controller is based ...
Fractional-Order Nonlinear Disturbance Observer Based Control of Fractional-Order Systems
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The robust control for a class of disturbed fractional-order systems is presented in this paper. The proposed controller considers a dynamic observer to exactly compensate for matched disturbances in finite time, and a ...
Fractional PD-IλDμ Error Manifolds for Robust Tracking Control of Robotic Manipulators
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Linear proportional-integral-derivative (PID) controller stands for the most widespread technique in industrial applications due to its simple structure and easy tuning rules. Recently, considering fractional orders λ and ...