A Chattering-free Fractional PDalpha Sliding-mode Control of a 3-DOF Robot System Driven by DC motors
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2012
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This paper proposes a robust fractional-order sliding mode control of a 3-DOF robot system
driven by DC motors. Primarily, a conventional sliding mode controller based on PDalpha sliding surface is designed. Numerical simulations have been carried out to show the proposed control system's robustness properties as well as compare the significance of the proposed control which resulted in reducing output oscillations (chattering-free) of the given robot. Simulations also include comparison fractional-order PD sliding mode controller with standard PD sliding-mode controller.
Ključne reči:
robust / control / fractional calculus / sliding-mode / robot / chatteringIzvor:
Proceedings of the Fifth Symposium on Fractional Differentiation and Its Applications, May 14-17 2012, Hohai University, Nanjing, China, 2012, no.130 1-6Izdavač:
- China, Nanjing: Hohai University
Finansiranje / projekti:
- Održivost i unapređenje mašinskih sistema u energetici i transportu primenom forenzičkog inženjerstva, eko i robust dizajna (RS-MESTD-Technological Development (TD or TR)-35006)
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Institucija/grupa
Mašinski fakultetTY - CONF AU - Batalov, Srećko AU - Lazarević, Mihailo AU - Hace, Aleš AU - Jezerenik, Karel PY - 2012 UR - https://machinery.mas.bg.ac.rs/handle/123456789/5176 AB - This paper proposes a robust fractional-order sliding mode control of a 3-DOF robot system driven by DC motors. Primarily, a conventional sliding mode controller based on PDalpha sliding surface is designed. Numerical simulations have been carried out to show the proposed control system's robustness properties as well as compare the significance of the proposed control which resulted in reducing output oscillations (chattering-free) of the given robot. Simulations also include comparison fractional-order PD sliding mode controller with standard PD sliding-mode controller. PB - China, Nanjing: Hohai University C3 - Proceedings of the Fifth Symposium on Fractional Differentiation and Its Applications, May 14-17 2012, Hohai University, Nanjing, China T1 - A Chattering-free Fractional PDalpha Sliding-mode Control of a 3-DOF Robot System Driven by DC motors EP - 6 SP - no.130 1 UR - https://hdl.handle.net/21.15107/rcub_machinery_5176 ER -
@conference{ author = "Batalov, Srećko and Lazarević, Mihailo and Hace, Aleš and Jezerenik, Karel", year = "2012", abstract = "This paper proposes a robust fractional-order sliding mode control of a 3-DOF robot system driven by DC motors. Primarily, a conventional sliding mode controller based on PDalpha sliding surface is designed. Numerical simulations have been carried out to show the proposed control system's robustness properties as well as compare the significance of the proposed control which resulted in reducing output oscillations (chattering-free) of the given robot. Simulations also include comparison fractional-order PD sliding mode controller with standard PD sliding-mode controller.", publisher = "China, Nanjing: Hohai University", journal = "Proceedings of the Fifth Symposium on Fractional Differentiation and Its Applications, May 14-17 2012, Hohai University, Nanjing, China", title = "A Chattering-free Fractional PDalpha Sliding-mode Control of a 3-DOF Robot System Driven by DC motors", pages = "6-no.130 1", url = "https://hdl.handle.net/21.15107/rcub_machinery_5176" }
Batalov, S., Lazarević, M., Hace, A.,& Jezerenik, K.. (2012). A Chattering-free Fractional PDalpha Sliding-mode Control of a 3-DOF Robot System Driven by DC motors. in Proceedings of the Fifth Symposium on Fractional Differentiation and Its Applications, May 14-17 2012, Hohai University, Nanjing, China China, Nanjing: Hohai University., no.130 1-6. https://hdl.handle.net/21.15107/rcub_machinery_5176
Batalov S, Lazarević M, Hace A, Jezerenik K. A Chattering-free Fractional PDalpha Sliding-mode Control of a 3-DOF Robot System Driven by DC motors. in Proceedings of the Fifth Symposium on Fractional Differentiation and Its Applications, May 14-17 2012, Hohai University, Nanjing, China. 2012;:no.130 1-6. https://hdl.handle.net/21.15107/rcub_machinery_5176 .
Batalov, Srećko, Lazarević, Mihailo, Hace, Aleš, Jezerenik, Karel, "A Chattering-free Fractional PDalpha Sliding-mode Control of a 3-DOF Robot System Driven by DC motors" in Proceedings of the Fifth Symposium on Fractional Differentiation and Its Applications, May 14-17 2012, Hohai University, Nanjing, China (2012):no.130 1-6, https://hdl.handle.net/21.15107/rcub_machinery_5176 .