Serbia-Italy bilateral project "Advanced Robust Fractional Order Control of Dynamical Systems: New Methods for Design and Realization ADFOCMEDER"

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Serbia-Italy bilateral project "Advanced Robust Fractional Order Control of Dynamical Systems: New Methods for Design and Realization ADFOCMEDER"

Authors

Publications

Design of Fractional-Order Lag Network and Fractional-Order PI Controller for a Robotic Manipulator

Mandić, Petar; Lino, Paolo; Maione, Guido; Lazarević, Mihailo; Sekara, Tomislav B.

(Elsevier, Amsterdam, 2020) 

TY  - CONF
AU  - Mandić, Petar
AU  - Lino, Paolo
AU  - Maione, Guido
AU  - Lazarević, Mihailo
AU  - Sekara, Tomislav B.
PY  - 2020
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3348
AB  - Motion control of robotic manipulators is frequently realized by independent control of the DC motors actuating robot joints. Namely, nonlinearities, coupling between actuators and other complex dynamics are neglected if high gear ratios between the actuators and robot joints are considered. This paper proposes a fractional-order lag network or a fractional-order PI controller to control the position of the actuators shafts. The introduced fractional compensators are designed by using the symmetrical optimum principle and by parameters optimization or by frequency-domain loop shaping, respectively. Simulation results and frequency response show effectiveness and robustness of the approach.
PB  - Elsevier, Amsterdam
C3  - IFAC PAPERSONLINE
T1  - Design of Fractional-Order Lag Network and Fractional-Order PI Controller for a Robotic Manipulator
EP  - 3674
IS  - 2
SP  - 3669
VL  - 53
DO  - 10.1016/j.ifacol.2020.12.2050
ER  - 
@conference{
author = "Mandić, Petar and Lino, Paolo and Maione, Guido and Lazarević, Mihailo and Sekara, Tomislav B.",
year = "2020",
abstract = "Motion control of robotic manipulators is frequently realized by independent control of the DC motors actuating robot joints. Namely, nonlinearities, coupling between actuators and other complex dynamics are neglected if high gear ratios between the actuators and robot joints are considered. This paper proposes a fractional-order lag network or a fractional-order PI controller to control the position of the actuators shafts. The introduced fractional compensators are designed by using the symmetrical optimum principle and by parameters optimization or by frequency-domain loop shaping, respectively. Simulation results and frequency response show effectiveness and robustness of the approach.",
publisher = "Elsevier, Amsterdam",
journal = "IFAC PAPERSONLINE",
title = "Design of Fractional-Order Lag Network and Fractional-Order PI Controller for a Robotic Manipulator",
pages = "3674-3669",
number = "2",
volume = "53",
doi = "10.1016/j.ifacol.2020.12.2050"
}
Mandić, P., Lino, P., Maione, G., Lazarević, M.,& Sekara, T. B.. (2020). Design of Fractional-Order Lag Network and Fractional-Order PI Controller for a Robotic Manipulator. in IFAC PAPERSONLINE
Elsevier, Amsterdam., 53(2), 3669-3674.
https://doi.org/10.1016/j.ifacol.2020.12.2050
Mandić P, Lino P, Maione G, Lazarević M, Sekara TB. Design of Fractional-Order Lag Network and Fractional-Order PI Controller for a Robotic Manipulator. in IFAC PAPERSONLINE. 2020;53(2):3669-3674.
doi:10.1016/j.ifacol.2020.12.2050 .
Mandić, Petar, Lino, Paolo, Maione, Guido, Lazarević, Mihailo, Sekara, Tomislav B., "Design of Fractional-Order Lag Network and Fractional-Order PI Controller for a Robotic Manipulator" in IFAC PAPERSONLINE, 53, no. 2 (2020):3669-3674,
https://doi.org/10.1016/j.ifacol.2020.12.2050 . .
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