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...

‎In this article‎, we use a finite difference technique‎ ‎to solve variable-order fractional integro-differential equations‎ ‎(VOFIDEs‎, ‎for short)‎. ‎In these equations‎, ‎the variable-order fractional integration(VOFI) and‎ ‎variable-order fractional derivative (VOFD) are described in the‎ ‎Riemann-Liouville's and Caputo's sense,respectively‎. ‎Numerical experiments‎, ‎consisting of two exam...

In this paper, we introduce a family of fractional-order Chebyshev functions based on the classical Chebyshev polynomials. We calculate and derive the operational matrix of derivative of fractional order $gamma$ in the Caputo sense using the fractional-order Chebyshev functions. This matrix yields to low computational cost of numerical solution of fractional order differential equations to the ...

This paper proposes an optimized control policy over type one diabetes. Type one diabetes is taken into consideration as a nonlinear model (Augmented Minimal Model), which is implemented in MATLAB-SIMULINK. This Model is developed in consideration of the patient's conditions. There are some uncertainties in the regarded model due to factors such as blood glucose concentration, daily meals or su...

The present study uses linear quadratic regulator (LQR) theory to control a vibratory system modeled by fractional-order differential equation. First, as an example of such system, viscoelastically damped structure is selected. Second, LQR designed for in which terms are contained the equation motion. An iteration-based method solving algebraic Riccati proposed order obtain feedback gains LQR. ...