TY  - CONF
AU  - Cvetković, Boško
AU  - Lazarević, Mihailo
AU  - Mandić, Petar
AU  - Šekara, Tomislav
AU  - Lino, Paolo
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4092
AB  - In this paper, an advanced iterative learning control algorithm (ILC) is introduced in order to
solve the output tracking problem of a robotic manipulator with three degrees of freedom.
Iterative fractional order PDμ type control is located in feedforward path, and combined together
with classical feedback PD controller. Fractional derivative μ provides additional flexibility in
adjusting the output performances. Parameters of the feedback controller are derived using a
modern approach which takes into consideration both performance and robustness characteristics
of the closed loop system. This is achieved by a suitable selection of only one adjustable
parameter. Mathematical model of robotic manipulator is derived together with actuator
dynamics, and it is shown that in the presence of high gear ratio the nonlinear effects can be
neglected, and only linear model can be observed. The efficiency of the proposed control
algorithm is demonstrated by simulations, in which robotic arm needs to follow desired trajectory
given in joint space. Excellent tracking performances are achieved only after few iterations.
PB  - Beograd : Srpsko društvo za mehaniku
C3  - 8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021.
T1  - Open closed-loop PDmi/PD type ILC control of Neuroarm robotic system
EP  - 353
SP  - 344
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4092
ER  - 

@conference{
author = "Cvetković, Boško and Lazarević, Mihailo and Mandić, Petar and Šekara, Tomislav and Lino, Paolo",
year = "2021",
abstract = "In this paper, an advanced iterative learning control algorithm (ILC) is introduced in order to
solve the output tracking problem of a robotic manipulator with three degrees of freedom.
Iterative fractional order PDμ type control is located in feedforward path, and combined together
with classical feedback PD controller. Fractional derivative μ provides additional flexibility in
adjusting the output performances. Parameters of the feedback controller are derived using a
modern approach which takes into consideration both performance and robustness characteristics
of the closed loop system. This is achieved by a suitable selection of only one adjustable
parameter. Mathematical model of robotic manipulator is derived together with actuator
dynamics, and it is shown that in the presence of high gear ratio the nonlinear effects can be
neglected, and only linear model can be observed. The efficiency of the proposed control
algorithm is demonstrated by simulations, in which robotic arm needs to follow desired trajectory
given in joint space. Excellent tracking performances are achieved only after few iterations.",
publisher = "Beograd : Srpsko društvo za mehaniku",
journal = "8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021.",
title = "Open closed-loop PDmi/PD type ILC control of Neuroarm robotic system",
pages = "353-344",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4092"
}

Cvetković, B., Lazarević, M., Mandić, P., Šekara, T.,& Lino, P.. (2021). Open closed-loop PDmi/PD type ILC control of Neuroarm robotic system. in 8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021.
Beograd : Srpsko društvo za mehaniku., 344-353.
https://hdl.handle.net/21.15107/rcub_machinery_4092

Cvetković B, Lazarević M, Mandić P, Šekara T, Lino P. Open closed-loop PDmi/PD type ILC control of Neuroarm robotic system. in 8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021.. 2021;:344-353.
https://hdl.handle.net/21.15107/rcub_machinery_4092 .

Cvetković, Boško, Lazarević, Mihailo, Mandić, Petar, Šekara, Tomislav, Lino, Paolo, "Open closed-loop PDmi/PD type ILC control of Neuroarm robotic system" in 8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021. (2021):344-353,
https://hdl.handle.net/21.15107/rcub_machinery_4092 .

TY  - JOUR
AU  - Cvetković, Boško
AU  - Lazarević, Mihailo
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3569
AB  - In this paper, a new open-loop (PDDa)-D-2 type a fractional order iterative learning control (ILC) is studied for joint space trajectory tracking control of a linearized uncertain robotic arm. The robust convergent analysis of the tracking errors has been done in time domain where it is theoretically proven that the boundednesses of the tracking error are guaranteed in the presence of model uncertainty. The convergence of the proposed open-loop ILC law is proven mathematically using Gronwall integral inequality for a linearized robotic system and sufficient conditions for convergence and robustness are obtained.
PB  - Univerzitet u Nišu - Prirodno-matematički fakultet - Departmant za matematiku i informatiku, Niš
T2  - Filomat
T1  - Fractional-Order Iterative Learning Control for Robotic Arm-(PDD alpha)-D-2 Type
EP  - 10
IS  - 1
SP  - 1
VL  - 35
DO  - 10.2298/FIL2101001C
ER  - 

@article{
author = "Cvetković, Boško and Lazarević, Mihailo",
year = "2021",
abstract = "In this paper, a new open-loop (PDDa)-D-2 type a fractional order iterative learning control (ILC) is studied for joint space trajectory tracking control of a linearized uncertain robotic arm. The robust convergent analysis of the tracking errors has been done in time domain where it is theoretically proven that the boundednesses of the tracking error are guaranteed in the presence of model uncertainty. The convergence of the proposed open-loop ILC law is proven mathematically using Gronwall integral inequality for a linearized robotic system and sufficient conditions for convergence and robustness are obtained.",
publisher = "Univerzitet u Nišu - Prirodno-matematički fakultet - Departmant za matematiku i informatiku, Niš",
journal = "Filomat",
title = "Fractional-Order Iterative Learning Control for Robotic Arm-(PDD alpha)-D-2 Type",
pages = "10-1",
number = "1",
volume = "35",
doi = "10.2298/FIL2101001C"
}

Cvetković, B.,& Lazarević, M.. (2021). Fractional-Order Iterative Learning Control for Robotic Arm-(PDD alpha)-D-2 Type. in Filomat
Univerzitet u Nišu - Prirodno-matematički fakultet - Departmant za matematiku i informatiku, Niš., 35(1), 1-10.
https://doi.org/10.2298/FIL2101001C

Cvetković B, Lazarević M. Fractional-Order Iterative Learning Control for Robotic Arm-(PDD alpha)-D-2 Type. in Filomat. 2021;35(1):1-10.
doi:10.2298/FIL2101001C .

Cvetković, Boško, Lazarević, Mihailo, "Fractional-Order Iterative Learning Control for Robotic Arm-(PDD alpha)-D-2 Type" in Filomat, 35, no. 1 (2021):1-10,
https://doi.org/10.2298/FIL2101001C . .

TY  - JOUR
AU  - Lazarević, Mihailo
AU  - Cvetković, Boško
AU  - Mandić, Petar
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2746
AB  - U ovom radu razmatrano je iterativno upravljanje učenjem u zatvorenoj petlji (ILC) - PDα tip linearnim singularnim sistemom sa kašnjenjem necelog reda. Dati su dovoljni uslovi za konvergenciju u vremenskom domenu predloženog PD-alfa tipa ILC za datu klasu linearnog singularnog sistema sa kašnjenjem necelog reda zajedno sa odgovarajućom teoremom i dokazom. Takođe, po prvi put je u ovom radu predloženi tip PDα ILC primenjen za datu klasu linearnih singularnih sistema sa kašnjenjem necelog reda sa neizvesnošću. Konačno, valjanost predloženog ILC algoritma upravljanja za razmatranu klasu singularnih sistema je potvrđena sa adekvatnom numeričkom simulacijom.
AB  - In this paper a closed-loop PDα - type iterative learning control (ILC) of fractional order linear singular time-delay system is considered. The sufficient conditions for the convergence in time domain of the proposed PD-alpha type ILC for a class of fractional order singular system are given by the corresponding theorem together with its proof. Also, for the first time, we proposed a proposed ILC PDα type for a given class of uncertain, fractional order, singular systems. Finally, the validity of the proposed PDα ILC scheme for a class of fractional order singular time-delay system is verified by a numerical example.
PB  - Vojnotehnički institut, Beograd
T2  - Scientific Technical Review
T1  - Iterativno upravljanje učenjem u zatvorenoj petlji necelog reda za singularni sistem sa kašnjenjem necelog reda - PDα tip
T1  - Closed-loop iterative learning control for fractional-order linear singular time-delay system: PDα-type
EP  - 25
IS  - 2
SP  - 17
VL  - 68
DO  - 10.5937/str1802017L
ER  - 

@article{
author = "Lazarević, Mihailo and Cvetković, Boško and Mandić, Petar",
year = "2018",
abstract = "U ovom radu razmatrano je iterativno upravljanje učenjem u zatvorenoj petlji (ILC) - PDα tip linearnim singularnim sistemom sa kašnjenjem necelog reda. Dati su dovoljni uslovi za konvergenciju u vremenskom domenu predloženog PD-alfa tipa ILC za datu klasu linearnog singularnog sistema sa kašnjenjem necelog reda zajedno sa odgovarajućom teoremom i dokazom. Takođe, po prvi put je u ovom radu predloženi tip PDα ILC primenjen za datu klasu linearnih singularnih sistema sa kašnjenjem necelog reda sa neizvesnošću. Konačno, valjanost predloženog ILC algoritma upravljanja za razmatranu klasu singularnih sistema je potvrđena sa adekvatnom numeričkom simulacijom., In this paper a closed-loop PDα - type iterative learning control (ILC) of fractional order linear singular time-delay system is considered. The sufficient conditions for the convergence in time domain of the proposed PD-alpha type ILC for a class of fractional order singular system are given by the corresponding theorem together with its proof. Also, for the first time, we proposed a proposed ILC PDα type for a given class of uncertain, fractional order, singular systems. Finally, the validity of the proposed PDα ILC scheme for a class of fractional order singular time-delay system is verified by a numerical example.",
publisher = "Vojnotehnički institut, Beograd",
journal = "Scientific Technical Review",
title = "Iterativno upravljanje učenjem u zatvorenoj petlji necelog reda za singularni sistem sa kašnjenjem necelog reda - PDα tip, Closed-loop iterative learning control for fractional-order linear singular time-delay system: PDα-type",
pages = "25-17",
number = "2",
volume = "68",
doi = "10.5937/str1802017L"
}

Lazarević, M., Cvetković, B.,& Mandić, P.. (2018). Iterativno upravljanje učenjem u zatvorenoj petlji necelog reda za singularni sistem sa kašnjenjem necelog reda - PDα tip. in Scientific Technical Review
Vojnotehnički institut, Beograd., 68(2), 17-25.
https://doi.org/10.5937/str1802017L

Lazarević M, Cvetković B, Mandić P. Iterativno upravljanje učenjem u zatvorenoj petlji necelog reda za singularni sistem sa kašnjenjem necelog reda - PDα tip. in Scientific Technical Review. 2018;68(2):17-25.
doi:10.5937/str1802017L .

Lazarević, Mihailo, Cvetković, Boško, Mandić, Petar, "Iterativno upravljanje učenjem u zatvorenoj petlji necelog reda za singularni sistem sa kašnjenjem necelog reda - PDα tip" in Scientific Technical Review, 68, no. 2 (2018):17-25,
https://doi.org/10.5937/str1802017L . .

TY  - CONF
AU  - Bošković, Marko C.
AU  - Rapaić, Milan R.
AU  - Sekara, Tomislav B.
AU  - Mandić, Petar
AU  - Lazarević, Mihailo
AU  - Cvetković, Boško
AU  - Lutovac, Budimir
AU  - Daković, Miloš
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2921
AB  - This paper presents simple, flexible and effective approximation method for fractional order lead-lag compensators. The proposed method relies on a Pade approximation of linear fractional order transfer functions, giving rational approximations of order N accurate enough for control applications as soon as N is greater than 2 or 3. An example of feedback loop incorporating this approximation is adopted from the well-known car suspension problem, wherein an iso-damping property of the closed loop response is achieved, with regard to a variation of the vehicle mass.
PB  - IEEE, New York
C3  - 2018 7th Mediterranean Conference on Embedded Computing (Meco)
T1  - On the Rational Representation of Fractional Order Lead Compensator using Pade Approximation
EP  - 475
SP  - 472
DO  - 10.1109/MECO.2018.8405969
UR  - https://hdl.handle.net/21.15107/rcub_machinery_2921
ER  - 

@conference{
author = "Bošković, Marko C. and Rapaić, Milan R. and Sekara, Tomislav B. and Mandić, Petar and Lazarević, Mihailo and Cvetković, Boško and Lutovac, Budimir and Daković, Miloš",
year = "2018",
abstract = "This paper presents simple, flexible and effective approximation method for fractional order lead-lag compensators. The proposed method relies on a Pade approximation of linear fractional order transfer functions, giving rational approximations of order N accurate enough for control applications as soon as N is greater than 2 or 3. An example of feedback loop incorporating this approximation is adopted from the well-known car suspension problem, wherein an iso-damping property of the closed loop response is achieved, with regard to a variation of the vehicle mass.",
publisher = "IEEE, New York",
journal = "2018 7th Mediterranean Conference on Embedded Computing (Meco)",
title = "On the Rational Representation of Fractional Order Lead Compensator using Pade Approximation",
pages = "475-472",
doi = "10.1109/MECO.2018.8405969",
url = "https://hdl.handle.net/21.15107/rcub_machinery_2921"
}

Bošković, M. C., Rapaić, M. R., Sekara, T. B., Mandić, P., Lazarević, M., Cvetković, B., Lutovac, B.,& Daković, M.. (2018). On the Rational Representation of Fractional Order Lead Compensator using Pade Approximation. in 2018 7th Mediterranean Conference on Embedded Computing (Meco)
IEEE, New York., 472-475.
https://doi.org/10.1109/MECO.2018.8405969
https://hdl.handle.net/21.15107/rcub_machinery_2921

Bošković MC, Rapaić MR, Sekara TB, Mandić P, Lazarević M, Cvetković B, Lutovac B, Daković M. On the Rational Representation of Fractional Order Lead Compensator using Pade Approximation. in 2018 7th Mediterranean Conference on Embedded Computing (Meco). 2018;:472-475.
doi:10.1109/MECO.2018.8405969
https://hdl.handle.net/21.15107/rcub_machinery_2921 .

Bošković, Marko C., Rapaić, Milan R., Sekara, Tomislav B., Mandić, Petar, Lazarević, Mihailo, Cvetković, Boško, Lutovac, Budimir, Daković, Miloš, "On the Rational Representation of Fractional Order Lead Compensator using Pade Approximation" in 2018 7th Mediterranean Conference on Embedded Computing (Meco) (2018):472-475,
https://doi.org/10.1109/MECO.2018.8405969 .,
https://hdl.handle.net/21.15107/rcub_machinery_2921 .

TY  - CONF
AU  - Mandić, Petar
AU  - Lazarević, Mihailo
AU  - Šekara, Tomislav
AU  - Cvetković, Boško
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4137
AB  - Most of the industrial robots use a classical PIDtype
controller for positioning tasks. A main reason for this is its
effectiveness in regulation tasks, simple linear structure, and
easy implementation. Moreover, it is well known that the
robustness properties of a PID controller make it an excellent
choice for set point control of robot manipulators. In this paper,
a robust PID controller is designed in order to cope with
modeling uncertainties and unmodelled dynamics. First,
dynamic model of robot manipulator is derived using the
Rodriquez approach. Then, a PID controller is applied to
feedback linearized robotic system in order to suppress constant
disturbance and achieve good set-point control. The proposed
controller contains one adjustable parameter lamda , which has a
direct influence on the time constant of the closed loop system.
By adjusting it, one can accomplish a compromise between the
robustness and performance indices. Using this algorithm,
simulation results of a NeuroArm robotic manipulator executing
positioning tasks are shown to demonstrate the efficiency of the
proposed controller.
PB  - Belgrade: ETRAN Society
PB  - Belgrade : Academic Mind
C3  - Proceedings of Papers – 5th International Conference on Electrical, Electronic and Computing Engineering, IcETRAN 2018,  Palić, Serbia, June 11 – 14, 2018.
T1  - Robust PID Control for Robot Manipulators with Parametric Uncertainties
EP  - 1059
SP  - 1054
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4137
ER  - 

@conference{
author = "Mandić, Petar and Lazarević, Mihailo and Šekara, Tomislav and Cvetković, Boško",
year = "2018",
abstract = "Most of the industrial robots use a classical PIDtype
controller for positioning tasks. A main reason for this is its
effectiveness in regulation tasks, simple linear structure, and
easy implementation. Moreover, it is well known that the
robustness properties of a PID controller make it an excellent
choice for set point control of robot manipulators. In this paper,
a robust PID controller is designed in order to cope with
modeling uncertainties and unmodelled dynamics. First,
dynamic model of robot manipulator is derived using the
Rodriquez approach. Then, a PID controller is applied to
feedback linearized robotic system in order to suppress constant
disturbance and achieve good set-point control. The proposed
controller contains one adjustable parameter lamda , which has a
direct influence on the time constant of the closed loop system.
By adjusting it, one can accomplish a compromise between the
robustness and performance indices. Using this algorithm,
simulation results of a NeuroArm robotic manipulator executing
positioning tasks are shown to demonstrate the efficiency of the
proposed controller.",
publisher = "Belgrade: ETRAN Society, Belgrade : Academic Mind",
journal = "Proceedings of Papers – 5th International Conference on Electrical, Electronic and Computing Engineering, IcETRAN 2018,  Palić, Serbia, June 11 – 14, 2018.",
title = "Robust PID Control for Robot Manipulators with Parametric Uncertainties",
pages = "1059-1054",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4137"
}

Mandić, P., Lazarević, M., Šekara, T.,& Cvetković, B.. (2018). Robust PID Control for Robot Manipulators with Parametric Uncertainties. in Proceedings of Papers – 5th International Conference on Electrical, Electronic and Computing Engineering, IcETRAN 2018,  Palić, Serbia, June 11 – 14, 2018.
Belgrade: ETRAN Society., 1054-1059.
https://hdl.handle.net/21.15107/rcub_machinery_4137

Mandić P, Lazarević M, Šekara T, Cvetković B. Robust PID Control for Robot Manipulators with Parametric Uncertainties. in Proceedings of Papers – 5th International Conference on Electrical, Electronic and Computing Engineering, IcETRAN 2018,  Palić, Serbia, June 11 – 14, 2018.. 2018;:1054-1059.
https://hdl.handle.net/21.15107/rcub_machinery_4137 .

Mandić, Petar, Lazarević, Mihailo, Šekara, Tomislav, Cvetković, Boško, "Robust PID Control for Robot Manipulators with Parametric Uncertainties" in Proceedings of Papers – 5th International Conference on Electrical, Electronic and Computing Engineering, IcETRAN 2018,  Palić, Serbia, June 11 – 14, 2018. (2018):1054-1059,
https://hdl.handle.net/21.15107/rcub_machinery_4137 .

TY  - CONF
AU  - Lazarević, Mihailo
AU  - Mandić, Petar
AU  - Cvetković, Boško
AU  - Bučanović, Ljubiša
AU  - Dragović, Mladen
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2971
AB  - In this paper, a new open-closed-loop PIDD2/PID type iterative learning control is studied for joint space trajectory tracking control of time-varying robotic manipulator. We propose intelligent control system which consists of a computed torque controller for linearizing robot dynamics. Then open-closed ILC is applied to the linearized system to further enhance tracking performance for repetitive tasks and deal with the model uncertainties. It is theoretically proven that the boundednesses of the tracking error are guaranteed in the presence of model uncertainty. Finally, a simulation example is presented to illustrate the feasibility and effectiveness of the proposed advanced open-closed iterative learning control scheme.
PB  - Institute of Electrical and Electronics Engineers Inc.
C3  - 2018 IEEE (SMC) International Conference on Innovations in Intelligent Systems and Applications, INI
T1  - Advanced open-closed-loop PIDD2/PID type ILC control of a robot arm
DO  - 10.1109/INISTA.2018.8466308
ER  - 

@conference{
author = "Lazarević, Mihailo and Mandić, Petar and Cvetković, Boško and Bučanović, Ljubiša and Dragović, Mladen",
year = "2018",
abstract = "In this paper, a new open-closed-loop PIDD2/PID type iterative learning control is studied for joint space trajectory tracking control of time-varying robotic manipulator. We propose intelligent control system which consists of a computed torque controller for linearizing robot dynamics. Then open-closed ILC is applied to the linearized system to further enhance tracking performance for repetitive tasks and deal with the model uncertainties. It is theoretically proven that the boundednesses of the tracking error are guaranteed in the presence of model uncertainty. Finally, a simulation example is presented to illustrate the feasibility and effectiveness of the proposed advanced open-closed iterative learning control scheme.",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
journal = "2018 IEEE (SMC) International Conference on Innovations in Intelligent Systems and Applications, INI",
title = "Advanced open-closed-loop PIDD2/PID type ILC control of a robot arm",
doi = "10.1109/INISTA.2018.8466308"
}

Lazarević, M., Mandić, P., Cvetković, B., Bučanović, L.,& Dragović, M.. (2018). Advanced open-closed-loop PIDD2/PID type ILC control of a robot arm. in 2018 IEEE (SMC) International Conference on Innovations in Intelligent Systems and Applications, INI
Institute of Electrical and Electronics Engineers Inc...
https://doi.org/10.1109/INISTA.2018.8466308

Lazarević M, Mandić P, Cvetković B, Bučanović L, Dragović M. Advanced open-closed-loop PIDD2/PID type ILC control of a robot arm. in 2018 IEEE (SMC) International Conference on Innovations in Intelligent Systems and Applications, INI. 2018;.
doi:10.1109/INISTA.2018.8466308 .

Lazarević, Mihailo, Mandić, Petar, Cvetković, Boško, Bučanović, Ljubiša, Dragović, Mladen, "Advanced open-closed-loop PIDD2/PID type ILC control of a robot arm" in 2018 IEEE (SMC) International Conference on Innovations in Intelligent Systems and Applications, INI (2018),
https://doi.org/10.1109/INISTA.2018.8466308 . .

TY  - CONF
AU  - Cvetković, Boško
AU  - Nešić, V.
AU  - Lazarević, Mihailo
AU  - Mandić, Petar
AU  - Marić, P.
AU  - Dragović, M.
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2968
AB  - In this paper we will implement new hardware control for 7 DOFs (Degrees of freedom) advanced robotic arm research platform (NeuroArm) equipped with various sensors. New hardware platform consists of Nano Pi platform which is used as a PC platform for standard PLC (programmable logic controller's) unit and will replace old system that consists of 7 16-bit ATmega processors. The goal of new PLC which is based on Linux operating system (Debian distribution) that is patched by Xenomai real time system for reducing control response time and better entire system control. Robotic arm is powered by 7 DC motors which are controlled by two PWM4 (Pulse Width Modulation) modules. Position data is acquired from 1kΩ resistive sensors using RI8 (Resistive module) module and from optical quadrature encoders using one DI16 (Digital Input) module. Also other modules PWM4, RI8 and DI16 communicate with PikoAtlas CPU module by I2C bus.
PB  - Institute of Physics Publishing
C3  - IOP Conference Series: Materials Science and Engineering
T1  - Advanced hardware control for seven DOFs robotic arm-neuro arm
IS  - 1
VL  - 393
DO  - 10.1088/1757-899X/393/1/012110
ER  - 

@conference{
author = "Cvetković, Boško and Nešić, V. and Lazarević, Mihailo and Mandić, Petar and Marić, P. and Dragović, M.",
year = "2018",
abstract = "In this paper we will implement new hardware control for 7 DOFs (Degrees of freedom) advanced robotic arm research platform (NeuroArm) equipped with various sensors. New hardware platform consists of Nano Pi platform which is used as a PC platform for standard PLC (programmable logic controller's) unit and will replace old system that consists of 7 16-bit ATmega processors. The goal of new PLC which is based on Linux operating system (Debian distribution) that is patched by Xenomai real time system for reducing control response time and better entire system control. Robotic arm is powered by 7 DC motors which are controlled by two PWM4 (Pulse Width Modulation) modules. Position data is acquired from 1kΩ resistive sensors using RI8 (Resistive module) module and from optical quadrature encoders using one DI16 (Digital Input) module. Also other modules PWM4, RI8 and DI16 communicate with PikoAtlas CPU module by I2C bus.",
publisher = "Institute of Physics Publishing",
journal = "IOP Conference Series: Materials Science and Engineering",
title = "Advanced hardware control for seven DOFs robotic arm-neuro arm",
number = "1",
volume = "393",
doi = "10.1088/1757-899X/393/1/012110"
}

Cvetković, B., Nešić, V., Lazarević, M., Mandić, P., Marić, P.,& Dragović, M.. (2018). Advanced hardware control for seven DOFs robotic arm-neuro arm. in IOP Conference Series: Materials Science and Engineering
Institute of Physics Publishing., 393(1).
https://doi.org/10.1088/1757-899X/393/1/012110

Cvetković B, Nešić V, Lazarević M, Mandić P, Marić P, Dragović M. Advanced hardware control for seven DOFs robotic arm-neuro arm. in IOP Conference Series: Materials Science and Engineering. 2018;393(1).
doi:10.1088/1757-899X/393/1/012110 .

Cvetković, Boško, Nešić, V., Lazarević, Mihailo, Mandić, Petar, Marić, P., Dragović, M., "Advanced hardware control for seven DOFs robotic arm-neuro arm" in IOP Conference Series: Materials Science and Engineering, 393, no. 1 (2018),
https://doi.org/10.1088/1757-899X/393/1/012110 . .

TY  - CONF
AU  - Lazarević, Mihailo
AU  - Durović, N.
AU  - Cvetković, Boško
AU  - Mandić, Petar
AU  - Cajić, Milan
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2691
AB  - In this paper a closed-loop PDα - type iterative learning control (ILC) of fractional order singular time-delay system is considered. In particular, we discuss fractional order linear singular timed-delay systems in state space form. The sufficient conditions for the convergence in time domain of the proposed PD-alpha type ILC for a class of fractional order singular system are given by the corresponding theorem together with its proof. Finally, the validity of the proposed PDα ILC scheme for a class of fractional order singular time-delay system is verified by a numerical example.
PB  - Institute of Electrical and Electronics Engineers Inc.
C3  - Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017
T1  - PDα-type iterative learning control for fractional-order singular time-delay system
EP  - 1910
SP  - 1905
DO  - 10.1109/CCDC.2017.7978828
ER  - 

@conference{
author = "Lazarević, Mihailo and Durović, N. and Cvetković, Boško and Mandić, Petar and Cajić, Milan",
year = "2017",
abstract = "In this paper a closed-loop PDα - type iterative learning control (ILC) of fractional order singular time-delay system is considered. In particular, we discuss fractional order linear singular timed-delay systems in state space form. The sufficient conditions for the convergence in time domain of the proposed PD-alpha type ILC for a class of fractional order singular system are given by the corresponding theorem together with its proof. Finally, the validity of the proposed PDα ILC scheme for a class of fractional order singular time-delay system is verified by a numerical example.",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
journal = "Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017",
title = "PDα-type iterative learning control for fractional-order singular time-delay system",
pages = "1910-1905",
doi = "10.1109/CCDC.2017.7978828"
}

Lazarević, M., Durović, N., Cvetković, B., Mandić, P.,& Cajić, M.. (2017). PDα-type iterative learning control for fractional-order singular time-delay system. in Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017
Institute of Electrical and Electronics Engineers Inc.., 1905-1910.
https://doi.org/10.1109/CCDC.2017.7978828

Lazarević M, Durović N, Cvetković B, Mandić P, Cajić M. PDα-type iterative learning control for fractional-order singular time-delay system. in Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017. 2017;:1905-1910.
doi:10.1109/CCDC.2017.7978828 .

Lazarević, Mihailo, Durović, N., Cvetković, Boško, Mandić, Petar, Cajić, Milan, "PDα-type iterative learning control for fractional-order singular time-delay system" in Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017 (2017):1905-1910,
https://doi.org/10.1109/CCDC.2017.7978828 . .

TY  - CONF
AU  - Lazarević, Mihailo
AU  - Đurović, Nikola
AU  - Cajić, Milan
AU  - Cvetković, Boško
AU  - Mandić, Petar
AU  - Bučanović, Ljubiša
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4153
AB  - This paper addresses the problem of application of fractional order Iterative learning control (FOILC) for complex human arm-support system which can be modelled as nonlinear singular system of fractional order. An algorithm of a new strategy for the FOILC implementation is proposed.Sufficient conditions for the convergence in the time domain of a proposed ILC schemes
are given by the corresponding theorems and proved. Finally, a numerical simulations show the feasibility and effectiveness of the proposed approach.
PB  - Budapest : CongressLIne Ltd.
C3  - Proceedings of 9th European Nonlinear Dynamics Conference (ENOC2017), edited by Gábor Stépán, Gábor Csernák. Budapest, 2017.
T1  - Feedback PDα type Iterative Learning Control for Fractional-Order Human Arm- Support Nonlinear System
EP  - 2
SP  - 1
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4153
ER  - 

@conference{
author = "Lazarević, Mihailo and Đurović, Nikola and Cajić, Milan and Cvetković, Boško and Mandić, Petar and Bučanović, Ljubiša",
year = "2017",
abstract = "This paper addresses the problem of application of fractional order Iterative learning control (FOILC) for complex human arm-support system which can be modelled as nonlinear singular system of fractional order. An algorithm of a new strategy for the FOILC implementation is proposed.Sufficient conditions for the convergence in the time domain of a proposed ILC schemes
are given by the corresponding theorems and proved. Finally, a numerical simulations show the feasibility and effectiveness of the proposed approach.",
publisher = "Budapest : CongressLIne Ltd.",
journal = "Proceedings of 9th European Nonlinear Dynamics Conference (ENOC2017), edited by Gábor Stépán, Gábor Csernák. Budapest, 2017.",
title = "Feedback PDα type Iterative Learning Control for Fractional-Order Human Arm- Support Nonlinear System",
pages = "2-1",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4153"
}

Lazarević, M., Đurović, N., Cajić, M., Cvetković, B., Mandić, P.,& Bučanović, L.. (2017). Feedback PDα type Iterative Learning Control for Fractional-Order Human Arm- Support Nonlinear System. in Proceedings of 9th European Nonlinear Dynamics Conference (ENOC2017), edited by Gábor Stépán, Gábor Csernák. Budapest, 2017.
Budapest : CongressLIne Ltd.., 1-2.
https://hdl.handle.net/21.15107/rcub_machinery_4153

Lazarević M, Đurović N, Cajić M, Cvetković B, Mandić P, Bučanović L. Feedback PDα type Iterative Learning Control for Fractional-Order Human Arm- Support Nonlinear System. in Proceedings of 9th European Nonlinear Dynamics Conference (ENOC2017), edited by Gábor Stépán, Gábor Csernák. Budapest, 2017.. 2017;:1-2.
https://hdl.handle.net/21.15107/rcub_machinery_4153 .

Lazarević, Mihailo, Đurović, Nikola, Cajić, Milan, Cvetković, Boško, Mandić, Petar, Bučanović, Ljubiša, "Feedback PDα type Iterative Learning Control for Fractional-Order Human Arm- Support Nonlinear System" in Proceedings of 9th European Nonlinear Dynamics Conference (ENOC2017), edited by Gábor Stépán, Gábor Csernák. Budapest, 2017. (2017):1-2,
https://hdl.handle.net/21.15107/rcub_machinery_4153 .

TY  - JOUR
AU  - Lazarević, Mihailo
AU  - Đurović, Nikola
AU  - Cvetković, Boško
AU  - Mandić, Petar
AU  - Bučanović, Ljubiša
PY  - 2016
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2276
AB  - Iterativno upravljanje putem učenja (ILC) predstavlja jedno od važnih oblasti u teoriji upravljanja i pogodno je za upravljanje šire klase mehatroničkih sistema, a posebno su pogodni za upravljanje kretanjem robotskih sistema. Ovaj se rad bavi problemom primene frakcionog reda ILC upravljanja za singularne sisteme frakcionog reda. Posebno, ovde se proučavaju singularni sistemi necelog reda u prostoru pseduo-stanja. U povratnoj sprezi frakcionog reda PDa tip ILC upravljanje za singularni sistem frakcionog reda je istraživano. Takođe, frakcionog reda P-PDa tip ILC upravljanje u direktnoj-povratnoj sprezi je razmatrano. Dovoljni uslovi za konvergenciju u vremenskom domenu predloženih šema ILC upravljanja su data odgovarajućim teoremama i koja su dokazana. Konačno, numeričke simualcije na primer pokazuje izvodljivost i efikasnost predloženog pristupa.
AB  - Iterative learning control (ILC) is one of the recent topics in control theories and it is suitable for controlling a wider class of mechatronic systems - it is especially suitable for the motion control of robotic systems. This paper addresses the problem of application of fractional order ILC for fractional order singular system. Particularly, we study fractional order singular systems in the pseudo-state space. An closed-loop fractional order PDalpha type ILC of the fractional-order singular system is investigated. Also, open-closed loop of the fractional order P-PDa type ILC is considered. Sufficient conditions for the convergence in the time domain of the proposed ILC schemes are given by the corresponding theorems and proved. Finally, numerical simulations show the feasibility and effectiveness of the proposed approach.
PB  - Vojnotehnički institut, Beograd
T2  - Scientific Technical Review
T1  - Iterativno upravljanje učenjem necelog reda za singularni sistem necelog red - (P)-PDa tip
T1  - Iteracionnoe upravlenie obučeniem drobnogo porjadka dlja osoboj singuljarnoj sistemy drobnogo porjadka: (P)-PDα tip / (francuski) Contrôle itératif par l'étude de l'ordre fractionnel pour le système singulier de l'ordre fractionnel: (P)-PDa type
T1  - Fractional-order iterative learning control for singular fractional- order system: (P) - PDa type
EP  - 49
IS  - 3
SP  - 40
VL  - 66
DO  - 10.5937/STR1603040L
ER  - 

@article{
author = "Lazarević, Mihailo and Đurović, Nikola and Cvetković, Boško and Mandić, Petar and Bučanović, Ljubiša",
year = "2016",
abstract = "Iterativno upravljanje putem učenja (ILC) predstavlja jedno od važnih oblasti u teoriji upravljanja i pogodno je za upravljanje šire klase mehatroničkih sistema, a posebno su pogodni za upravljanje kretanjem robotskih sistema. Ovaj se rad bavi problemom primene frakcionog reda ILC upravljanja za singularne sisteme frakcionog reda. Posebno, ovde se proučavaju singularni sistemi necelog reda u prostoru pseduo-stanja. U povratnoj sprezi frakcionog reda PDa tip ILC upravljanje za singularni sistem frakcionog reda je istraživano. Takođe, frakcionog reda P-PDa tip ILC upravljanje u direktnoj-povratnoj sprezi je razmatrano. Dovoljni uslovi za konvergenciju u vremenskom domenu predloženih šema ILC upravljanja su data odgovarajućim teoremama i koja su dokazana. Konačno, numeričke simualcije na primer pokazuje izvodljivost i efikasnost predloženog pristupa., Iterative learning control (ILC) is one of the recent topics in control theories and it is suitable for controlling a wider class of mechatronic systems - it is especially suitable for the motion control of robotic systems. This paper addresses the problem of application of fractional order ILC for fractional order singular system. Particularly, we study fractional order singular systems in the pseudo-state space. An closed-loop fractional order PDalpha type ILC of the fractional-order singular system is investigated. Also, open-closed loop of the fractional order P-PDa type ILC is considered. Sufficient conditions for the convergence in the time domain of the proposed ILC schemes are given by the corresponding theorems and proved. Finally, numerical simulations show the feasibility and effectiveness of the proposed approach.",
publisher = "Vojnotehnički institut, Beograd",
journal = "Scientific Technical Review",
title = "Iterativno upravljanje učenjem necelog reda za singularni sistem necelog red - (P)-PDa tip, Iteracionnoe upravlenie obučeniem drobnogo porjadka dlja osoboj singuljarnoj sistemy drobnogo porjadka: (P)-PDα tip / (francuski) Contrôle itératif par l'étude de l'ordre fractionnel pour le système singulier de l'ordre fractionnel: (P)-PDa type, Fractional-order iterative learning control for singular fractional- order system: (P) - PDa type",
pages = "49-40",
number = "3",
volume = "66",
doi = "10.5937/STR1603040L"
}

Lazarević, M., Đurović, N., Cvetković, B., Mandić, P.,& Bučanović, L.. (2016). Iterativno upravljanje učenjem necelog reda za singularni sistem necelog red - (P)-PDa tip. in Scientific Technical Review
Vojnotehnički institut, Beograd., 66(3), 40-49.
https://doi.org/10.5937/STR1603040L

Lazarević M, Đurović N, Cvetković B, Mandić P, Bučanović L. Iterativno upravljanje učenjem necelog reda za singularni sistem necelog red - (P)-PDa tip. in Scientific Technical Review. 2016;66(3):40-49.
doi:10.5937/STR1603040L .

Lazarević, Mihailo, Đurović, Nikola, Cvetković, Boško, Mandić, Petar, Bučanović, Ljubiša, "Iterativno upravljanje učenjem necelog reda za singularni sistem necelog red - (P)-PDa tip" in Scientific Technical Review, 66, no. 3 (2016):40-49,
https://doi.org/10.5937/STR1603040L . .

TY  - CONF
AU  - Lazarević, Mihailo
AU  - Mandić, Petar
AU  - Cvetković, Boško
AU  - Sekara, Tomislav B.
AU  - Lutovac, Budimir
PY  - 2016
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2314
AB  - This paper will provide some an applications of memristors and mem-systems with a particular focus on electromechanical systems and analogies that holds great promise for advanced modeling and control of complex objects and processes. Also, we present the connection between fractional order differintegral operators and behavior of the mem-systems. Finally, several potential applications of electromechanical analogies of integer and fractional order are discussed.
PB  - Institute of Electrical and Electronics Engineers Inc.
C3  - 2016 5th Mediterranean Conference on Embedded Computing, MECO 2016 - Including ECyPS 2016, BIOENG.ME
T1  - Some Electromechanical Systems and Analogies of Mem-systems Integer and Fractional Order
EP  - 233
SP  - 230
DO  - 10.1109/MECO.2016.7525748
ER  - 

@conference{
author = "Lazarević, Mihailo and Mandić, Petar and Cvetković, Boško and Sekara, Tomislav B. and Lutovac, Budimir",
year = "2016",
abstract = "This paper will provide some an applications of memristors and mem-systems with a particular focus on electromechanical systems and analogies that holds great promise for advanced modeling and control of complex objects and processes. Also, we present the connection between fractional order differintegral operators and behavior of the mem-systems. Finally, several potential applications of electromechanical analogies of integer and fractional order are discussed.",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
journal = "2016 5th Mediterranean Conference on Embedded Computing, MECO 2016 - Including ECyPS 2016, BIOENG.ME",
title = "Some Electromechanical Systems and Analogies of Mem-systems Integer and Fractional Order",
pages = "233-230",
doi = "10.1109/MECO.2016.7525748"
}

Lazarević, M., Mandić, P., Cvetković, B., Sekara, T. B.,& Lutovac, B.. (2016). Some Electromechanical Systems and Analogies of Mem-systems Integer and Fractional Order. in 2016 5th Mediterranean Conference on Embedded Computing, MECO 2016 - Including ECyPS 2016, BIOENG.ME
Institute of Electrical and Electronics Engineers Inc.., 230-233.
https://doi.org/10.1109/MECO.2016.7525748

Lazarević M, Mandić P, Cvetković B, Sekara TB, Lutovac B. Some Electromechanical Systems and Analogies of Mem-systems Integer and Fractional Order. in 2016 5th Mediterranean Conference on Embedded Computing, MECO 2016 - Including ECyPS 2016, BIOENG.ME. 2016;:230-233.
doi:10.1109/MECO.2016.7525748 .

Lazarević, Mihailo, Mandić, Petar, Cvetković, Boško, Sekara, Tomislav B., Lutovac, Budimir, "Some Electromechanical Systems and Analogies of Mem-systems Integer and Fractional Order" in 2016 5th Mediterranean Conference on Embedded Computing, MECO 2016 - Including ECyPS 2016, BIOENG.ME (2016):230-233,
https://doi.org/10.1109/MECO.2016.7525748 . .

TY  - CONF
AU  - Cvetković, Boško
AU  - Lazarević, Mihailo
AU  - Đurović, Nikola
AU  - Mandić, Petar
PY  - 2016
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4184
AB  - An open-closed-loop P/PDalpha type iterative learning control (ILC) of fractional-order
singular system is investigated. In particular, we discuss fractional-order linear singular
systems in pseudo state space form. The sufficient conditions for the convergence in time
domain of the proposed fractional-order ILC for a class of fractional-order singular
system are defined by the corresponding theorem together with its proof. Finally, a
numerical example is presented to illustrate the performance of the proposed factional
order ILC.
PB  - Belgrade: Serbian Society of Mechanics
PB  - Faculty of Technical Sciences Novi Sad
C3  - Proceedings of International Conference on Fractional Differentiation and its Application ICFDA16, 18-20 July 2016, Novi Sad, Serbia
T1  - Open-closed loop fractional-order iterative learning control for singular fractional-order system
EP  - 414
SP  - 404
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4184
ER  - 

@conference{
author = "Cvetković, Boško and Lazarević, Mihailo and Đurović, Nikola and Mandić, Petar",
year = "2016",
abstract = "An open-closed-loop P/PDalpha type iterative learning control (ILC) of fractional-order
singular system is investigated. In particular, we discuss fractional-order linear singular
systems in pseudo state space form. The sufficient conditions for the convergence in time
domain of the proposed fractional-order ILC for a class of fractional-order singular
system are defined by the corresponding theorem together with its proof. Finally, a
numerical example is presented to illustrate the performance of the proposed factional
order ILC.",
publisher = "Belgrade: Serbian Society of Mechanics, Faculty of Technical Sciences Novi Sad",
journal = "Proceedings of International Conference on Fractional Differentiation and its Application ICFDA16, 18-20 July 2016, Novi Sad, Serbia",
title = "Open-closed loop fractional-order iterative learning control for singular fractional-order system",
pages = "414-404",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4184"
}

Cvetković, B., Lazarević, M., Đurović, N.,& Mandić, P.. (2016). Open-closed loop fractional-order iterative learning control for singular fractional-order system. in Proceedings of International Conference on Fractional Differentiation and its Application ICFDA16, 18-20 July 2016, Novi Sad, Serbia
Belgrade: Serbian Society of Mechanics., 404-414.
https://hdl.handle.net/21.15107/rcub_machinery_4184

Cvetković B, Lazarević M, Đurović N, Mandić P. Open-closed loop fractional-order iterative learning control for singular fractional-order system. in Proceedings of International Conference on Fractional Differentiation and its Application ICFDA16, 18-20 July 2016, Novi Sad, Serbia. 2016;:404-414.
https://hdl.handle.net/21.15107/rcub_machinery_4184 .

Cvetković, Boško, Lazarević, Mihailo, Đurović, Nikola, Mandić, Petar, "Open-closed loop fractional-order iterative learning control for singular fractional-order system" in Proceedings of International Conference on Fractional Differentiation and its Application ICFDA16, 18-20 July 2016, Novi Sad, Serbia (2016):404-414,
https://hdl.handle.net/21.15107/rcub_machinery_4184 .

TY  - CONF
AU  - Cvetković, Boško
AU  - Lazarević, Mihailo
AU  - Maneski, Taško
AU  - Mandić, Petar
PY  - 2016
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4183
AB  - U radu je prikazano kako se može koristiti niskobudžetna razvojna ploča, u ovom
slučaju Raspberry Pi, za prikupljanje analognih i digitalnih signala u laboratoriji Mašinskog
fakulteta i u realnim uslovima na konstrukcijama. Prednost korišćenja ove razvojne ploče je
znatno niža cena od najjeftinijih DAQ (Data acquisition) sistema, a pri tome se dobija i znatno
veća upotrebljivost koja se može meriti sa više od 20-30 puta skupljim DAQ sistemima.
PB  - Podgorica: Univerzitet Crne Gore Elektrotehnički fakultet
C3  - Zbornik radova sa XXI međunarodnog naučno - stručnog skupa INFORMACIONE TEHNOLOGIJE - sadašnjost i budućnost, IT16, Zabljak, mart 2016
T1  - Akvizicija podataka korišćenjem razvojne ploče raspberri PI model B
T1  - Data acquisition using single board computer raspberry Pi model B
EP  - 72
SP  - 69
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4183
ER  - 

@conference{
author = "Cvetković, Boško and Lazarević, Mihailo and Maneski, Taško and Mandić, Petar",
year = "2016",
abstract = "U radu je prikazano kako se može koristiti niskobudžetna razvojna ploča, u ovom
slučaju Raspberry Pi, za prikupljanje analognih i digitalnih signala u laboratoriji Mašinskog
fakulteta i u realnim uslovima na konstrukcijama. Prednost korišćenja ove razvojne ploče je
znatno niža cena od najjeftinijih DAQ (Data acquisition) sistema, a pri tome se dobija i znatno
veća upotrebljivost koja se može meriti sa više od 20-30 puta skupljim DAQ sistemima.",
publisher = "Podgorica: Univerzitet Crne Gore Elektrotehnički fakultet",
journal = "Zbornik radova sa XXI međunarodnog naučno - stručnog skupa INFORMACIONE TEHNOLOGIJE - sadašnjost i budućnost, IT16, Zabljak, mart 2016",
title = "Akvizicija podataka korišćenjem razvojne ploče raspberri PI model B, Data acquisition using single board computer raspberry Pi model B",
pages = "72-69",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4183"
}

Cvetković, B., Lazarević, M., Maneski, T.,& Mandić, P.. (2016). Akvizicija podataka korišćenjem razvojne ploče raspberri PI model B. in Zbornik radova sa XXI međunarodnog naučno - stručnog skupa INFORMACIONE TEHNOLOGIJE - sadašnjost i budućnost, IT16, Zabljak, mart 2016
Podgorica: Univerzitet Crne Gore Elektrotehnički fakultet., 69-72.
https://hdl.handle.net/21.15107/rcub_machinery_4183

Cvetković B, Lazarević M, Maneski T, Mandić P. Akvizicija podataka korišćenjem razvojne ploče raspberri PI model B. in Zbornik radova sa XXI međunarodnog naučno - stručnog skupa INFORMACIONE TEHNOLOGIJE - sadašnjost i budućnost, IT16, Zabljak, mart 2016. 2016;:69-72.
https://hdl.handle.net/21.15107/rcub_machinery_4183 .

Cvetković, Boško, Lazarević, Mihailo, Maneski, Taško, Mandić, Petar, "Akvizicija podataka korišćenjem razvojne ploče raspberri PI model B" in Zbornik radova sa XXI međunarodnog naučno - stručnog skupa INFORMACIONE TEHNOLOGIJE - sadašnjost i budućnost, IT16, Zabljak, mart 2016 (2016):69-72,
https://hdl.handle.net/21.15107/rcub_machinery_4183 .

TY  - CONF
AU  - Samardžić, J.
AU  - Lazarević, Mihailo
AU  - Cvetković, Boško
PY  - 2011
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/1325
AB  - The paper presents the new algorithms of PID control based on fractional calculus (FC) and optimal procedure in the position and tracking control of robotic system with 3 DOFs driven by DC motors. The objective of this work is to find out optimal settings for a fractional PIαD β controller in order to fulfill proposed design specifications for the closed-loop system, taking advantage of the fractional orders, α and β. Finally, the effectiveness of suggested optimal fractional PID control is demonstrated with a suitable robot with three degrees of freedom as the illustrative example.
C3  - SISY 2011 - 9th International Symposium on Intelligent Systems and Informatics, Proceedings
T1  - Optimal conventional and fractional PID control algorithm for a robotic system with three degrees of freedom driven by DC motors
EP  - 301
SP  - 297
DO  - 10.1109/SISY.2011.6034341
ER  - 

@conference{
author = "Samardžić, J. and Lazarević, Mihailo and Cvetković, Boško",
year = "2011",
abstract = "The paper presents the new algorithms of PID control based on fractional calculus (FC) and optimal procedure in the position and tracking control of robotic system with 3 DOFs driven by DC motors. The objective of this work is to find out optimal settings for a fractional PIαD β controller in order to fulfill proposed design specifications for the closed-loop system, taking advantage of the fractional orders, α and β. Finally, the effectiveness of suggested optimal fractional PID control is demonstrated with a suitable robot with three degrees of freedom as the illustrative example.",
journal = "SISY 2011 - 9th International Symposium on Intelligent Systems and Informatics, Proceedings",
title = "Optimal conventional and fractional PID control algorithm for a robotic system with three degrees of freedom driven by DC motors",
pages = "301-297",
doi = "10.1109/SISY.2011.6034341"
}

Samardžić, J., Lazarević, M.,& Cvetković, B.. (2011). Optimal conventional and fractional PID control algorithm for a robotic system with three degrees of freedom driven by DC motors. in SISY 2011 - 9th International Symposium on Intelligent Systems and Informatics, Proceedings, 297-301.
https://doi.org/10.1109/SISY.2011.6034341

Samardžić J, Lazarević M, Cvetković B. Optimal conventional and fractional PID control algorithm for a robotic system with three degrees of freedom driven by DC motors. in SISY 2011 - 9th International Symposium on Intelligent Systems and Informatics, Proceedings. 2011;:297-301.
doi:10.1109/SISY.2011.6034341 .

Samardžić, J., Lazarević, Mihailo, Cvetković, Boško, "Optimal conventional and fractional PID control algorithm for a robotic system with three degrees of freedom driven by DC motors" in SISY 2011 - 9th International Symposium on Intelligent Systems and Informatics, Proceedings (2011):297-301,
https://doi.org/10.1109/SISY.2011.6034341 . .