Fractional Modeling and Controller Design of Robotic Manipulators: With Hardware Validation 3030582469, 9783030582463
This book at hand is an appropriate addition to the field of fractional calculus applied to control systems. If an engin
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English Pages 138 [149] Year 2020
Table of contents :
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
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
- Author / Uploaded
- Abhaya Pal Singh
- Dipankar Deb
- Himanshu Agrawal
- Valentina E. Balas
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