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 . .

TY  - CONF
AU  - Maione, Guido
AU  - Lazarević, Mihailo
PY  - 2019
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3171
AB  - This paper proposes a two steps indirect approach to obtain rational transfer functions (TFs) for implementing the fractional-order Tustin operator (FTO). The coefficients of the rational discrete TF approximation of the FTO are given by closed-form expressions. The proposed coefficients expressions are the basis for proving the zero-pole interlacing of the discrete FTO. The interlaced zero-pole pattern shows a symmetrical configuration on the z-plane.
PB  - Institute of Electrical and Electronics Engineers Inc.
C3  - Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
T1  - On the Symmetric Distribution of Interlaced Zero-Pole Pairs approximating the Discrete Fractional Tustin Operator
EP  - 2583
SP  - 2578
VL  - 2019-October
DO  - 10.1109/SMC.2019.8914260
ER  - 

@conference{
author = "Maione, Guido and Lazarević, Mihailo",
year = "2019",
abstract = "This paper proposes a two steps indirect approach to obtain rational transfer functions (TFs) for implementing the fractional-order Tustin operator (FTO). The coefficients of the rational discrete TF approximation of the FTO are given by closed-form expressions. The proposed coefficients expressions are the basis for proving the zero-pole interlacing of the discrete FTO. The interlaced zero-pole pattern shows a symmetrical configuration on the z-plane.",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
journal = "Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics",
title = "On the Symmetric Distribution of Interlaced Zero-Pole Pairs approximating the Discrete Fractional Tustin Operator",
pages = "2583-2578",
volume = "2019-October",
doi = "10.1109/SMC.2019.8914260"
}

Maione, G.,& Lazarević, M.. (2019). On the Symmetric Distribution of Interlaced Zero-Pole Pairs approximating the Discrete Fractional Tustin Operator. in Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
Institute of Electrical and Electronics Engineers Inc.., 2019-October, 2578-2583.
https://doi.org/10.1109/SMC.2019.8914260

Maione G, Lazarević M. On the Symmetric Distribution of Interlaced Zero-Pole Pairs approximating the Discrete Fractional Tustin Operator. in Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics. 2019;2019-October:2578-2583.
doi:10.1109/SMC.2019.8914260 .

Maione, Guido, Lazarević, Mihailo, "On the Symmetric Distribution of Interlaced Zero-Pole Pairs approximating the Discrete Fractional Tustin Operator" in Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics, 2019-October (2019):2578-2583,
https://doi.org/10.1109/SMC.2019.8914260 . .