Realization of New Robust Digital Fractional-order Compensators
نویسندگان
چکیده
منابع مشابه
Searching for Robust Minimal-Order Compensators
A method of designing a family of robust compensators for a single-input/single-output linear system is presented. Each compensator’s transfer function is found by using a genetic-algorithm search for numerator and denominator coefficients. The search minimizes the probabilities of unsatisfactory stability and performance subject to real parameter variations of the plant. As the search progress...
متن کاملRobust Fractional Order Control of Under-actuated Electromechanical System
This paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. The proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. As a result, the proposed controller is simple, fast response and superior to the torque c...
متن کاملRobust Fractional Order Control of Under-actuated Electromechanical System
This paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. The proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. As a result, the proposed controller is simple, fast response and superior to the torque c...
متن کاملRobust Fractional-order Control of Flexible-Joint Electrically Driven Robots
This paper presents a novel robust fractional PIλ controller design for flexible joint electrically driven robots. Because of using voltage control strategy, the proposed approach is free of problems arising from torque control strategy in the design and implementation. In fact, the motor's current includes the effects of nonlinearities and coupling in the robot manipulator. Therefore, cancella...
متن کاملAnalogue Realization of Fractional-Order Dynamical Systems
As it results from many research works, the majority of real dynamical objects are fractional-order systems, although in some types of systems the order is very close to integer order. Application of fractional-order models is more adequate for the description and analysis of real dynamical systems than integer-order models, because their total entropy is greater than in integer-order models wi...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IFAC-PapersOnLine
سال: 2017
ISSN: 2405-8963
DOI: 10.1016/j.ifacol.2017.08.1422