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.
Author(s): Abhaya Pal Singh, Dipankar Deb, Himanshu Agrawal, Valentina E. Balas
Series: Intelligent Systems Reference Library, 194
Publisher: Springer
Year: 2020
Language: English
Pages: 138
City: Cham
Preface
Acknowledgements
Contents
Acronyms
1 Introduction
1.1 Applications of Fractional Calculus
1.2 Studies on Robotic Manipulators
1.2.1 Supported by Simulations
1.2.2 Supported by Experiments
1.3 Objectives and Scope
References
2 Fractional Modeling of Robotic Systems
2.1 Mathematical Modeling
2.1.1 Mass-Spring-Damper (MSD) System
2.1.2 Inverted Pendulum on a Cart System (POAC)
2.1.3 Double Inverted Pendulum on a Cart System (DI-POAC)
2.1.4 2D-Gantry Crane System
2.1.5 Missile Launching Vehicle/Pad (MLV)
2.2 Fractional Modeling of a System
2.2.1 Embedding to Inverted Pendulum and Cart (POAC)
2.2.2 Embedding to 2D-Gantry Crane System
2.2.3 Embedding to Missile Launching Vehicle (MLV)
References
3 FOPID Controller Design for IO Model of Robotic Systems
3.1 Controller Design for Mass-Spring System
3.2 PID and Fractional PID Controller Design
3.2.1 For POAC System
3.2.2 For 2D Gantry Crane System
3.3 Model Predictive Controller (MPC)
References
4 Fractional Model Predictive and Adaptive Fractional Model Predictive Controller Design
4.1 Fractional Model Predictive Controller (FMPC) Design for POAC System
4.1.1 Case 1: With Changing Cart Mass
4.1.2 Case 2: With Changing Pendulum Mass
4.2 Design of FMPC for 2-D Gantry Crane System
4.3 FMPC for Missile Launching Pad
4.4 Adaptive Fractional Model Predictive Control (AFMPC)
4.4.1 For POAC System
4.4.2 For 2D Gantry Crane System
References
5 Modeling, Stability and Fractional Control of Single Flexible Link Robotic Manipulator
5.1 Fractional Order Model of SFLRM and Its Validation
5.2 Stability Analysis and Control Law Design
5.3 Experimental Validation
References
6 Improved Fractional Model Selection and Control with Experimental Validation
6.1 Algorithm for Selection of a Fractional Model
6.2 Evaluation of the Algorithm
6.3 Simulation Results Analysis with Existing Fractional Models
6.4 Experimental Results Analysis on Robotic Manipulators
6.4.1 Fractional Controller Design for Integer Order Models
6.4.2 Integer Controller for Fractional Order Models
6.4.3 Fractional Controller Design for Fractional Order Model
References
7 Model Reference Adaptive Fractional Order Controller Design
7.1 Introduction
7.2 Adaptive FO Controller Design for Pendulum on a Cart System
7.3 Adaptive FO Controller Design for 2D Gantry Crane System
7.4 Adaptive FO Controller Design for Single Rigid Link Robotic Manipulator
7.5 Adaptive FO Controller Design for 2DOF Serial Link Robotic Manipulator
7.6 Adaptive FO Controller Design for Missile Launching System (MLV)
References
Appendix Appendix A
A.1 Algorithm for Missile Launching Vehicle (MLV) System
A.2 Update Plant Model MATLAB Function
