Fractional synergetic tracking control for robot manipulator

Saif, Asma; Fareh, Raouf; Sinan, Saif; Bettayeb, Maâmar

doi:10.1080/23307706.2022.2146008

Cited by 11 publications

(1 citation statement)

References 37 publications

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“…In fact, fractional calculus has proved to be a powerful tool in the modeling of real problems, managing to adjust theoretical models to real data in a more precise way. For example, applications can be found in Biology [6], Physics [7], Chemistry [8], Engineering [9,10], Economy [11], etc. These derivatives are non-local, conserving the memory of the process, thus being able to adjust to the current dynamics of the process.…”

Section: Introductionmentioning

confidence: 99%

Variational Problems Involving a Generalized Fractional Derivative with Dependence on the Mittag–Leffler Function

Almeida

2023

Fractal Fract

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In this paper, we investigate the necessary conditions to optimize a given functional, involving a generalization of the tempered fractional derivative. The exponential function is replaced by the Mittag–Leffler function, and the kernel depends on an arbitrary increasing function. The Lagrangian depends on time, the state function, its fractional derivative, and we add a terminal cost function to the formulation of the problem. Since this new fractional derivative is presented in a general form, some previous works are our own particular cases. In addition, for different choices of the kernel, new results can be deduced. Using variational techniques, the fractional Euler–Lagrange equation is proved, as are its associated transversality conditions. The variational problem with additional constraints is also considered. Then, the question of minimizing functionals with an infinite interval of integration is addressed. To end, we study the case of the Herglotz variational problem, which generalizes the previous one. With this work, several optimization conditions are proven that can be useful for different optimization problems dealing with various fractional derivatives.

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