Fractional Order Calculus-Inspired Kinematic Design in Adaptive Control

Varga, Bence; Horváth, Richárd; Tar, József K.

doi:10.1007/978-3-031-04870-8_26

Cited by 4 publications

(9 citation statements)

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“…The basic idea was introduced in ref. [29], with a simple weighted sum feedback. However, it was shown through simulations that original solution can generate very high control force which can lead to significant chattering in the control output.…”

Section: Discussionmentioning

confidence: 99%

“…Section 5 contains some simulation results for a robotic system since this paper serves as continuation of ref. [29]. The proposed control solution was also verified on experimental basis in Section 6.…”

Section: Introductionmentioning

confidence: 91%

“…• In this paper, further improvement of a simple weighted sum feedback design is introduced, which eliminates the design issues of the originally proposed solution [29]. This improved version generates a nice continuous output signal without output chattering, and it is easy to implement in a simple microcontroller.…”

Section: (1−q) 2n+1mentioning

confidence: 99%

“…As a continuation of our previous research in replacing a fractional order controller with a simple weighted sum feedback design (first efforts were introduced in ref. [29]), further simulation-based results are shown in this section, on a simple model of a 3 Degree of Freedom (DoF) PUMA-type robot arm. The simplified schematic of the robotic arm is shown in Fig.…”

Section: Simulation-based Analysismentioning

confidence: 99%

“…The adaptive deformation, which is the essence of FPI-based control, can guarantee a strictly prescribed behavior for the components of , which is highly desirable for robot control applications, where no overshoot in the joint coordinates is also necessary for safe operation. The main contributions of this paper are: In this paper, further improvement of a simple weighted sum feedback design is introduced, which eliminates the design issues of the originally proposed solution [29]. This improved version generates a nice continuous output signal without output chattering, and it is easy to implement in a simple microcontroller. The proposed control solution is tested and compared to a PID control solution on experimental basis on a simple electromechanical system using FPI-based adaptive control scenario.…”

Section: Introductionmentioning

confidence: 99%

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Fractional order inspired iterative adaptive control

Varga,

Tar,

Horváth

2023

Robotica

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Although several studies have revealed that fractional order controllers usually outperform conventional integer-order control solutions, fractional order controllers are not yet widely applied in industrial applications due to their complex mathematical background. In this paper, further improvements of a simple weighted sum feedback design are introduced that imitates the behavior of a fractional order controller but is free from its various formal restrictions. The proposed control solution has the main characteristics of a fractional order controller, such as finite memory length, excellent transient response with no overshoot and robust behavior, but it is placed into a much simpler mathematical framework. In the current paper, a simple derivative term was incorporated in the design which made the controller’s output more stable by completely eliminating output chattering. The proposed control method was developed for a general second-order system. It was tested in a fixed point iteration-based adaptive control scenario, through simulations using a robotic example and on experimental basis as well, utilizing a simple one-degree-of-freedom electromechanical system. The presented experiments are the first systematic investigations of the fixed point iteration-based adaptive control method.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 91%

Section: (1−q) 2n+1mentioning

confidence: 99%

Section: Simulation-based Analysismentioning

confidence: 99%