Some Applications of Biomimetics and Fractional Calculus in Control and Modeling of (Bio)robotic Systems
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Rapid development of biological science and technologies will further improve the active applications of control engineering by advanced biomimetic and biologically inspired research. First of all, it has promoted a biologically inspired control synergy approach that allows the resolution of redundancy of a given robotized system. In particular, the actuator redundancy control problem has been stated and solved by using Pontryagin’s maximum principle, where control synergy was established at the coordination level. Besides, fractional calculus (FC), is a mathematical topic with more than 300 years old history, in recent years there have been extensive research activities related to applications of FC in many areas of science and engineering. Here, they are presented by the advanced algorithms of PID control based on FC, tuned by genetic algorithms, in the position control of robotic system with 3 DOFs driven by DC motors. Also, a chattering-free fractional PDa sliding-mode controller i...n the control of a given robotic system has been proposed and realized. The effectiveness of the proposed optimal fractional order controls are demonstrated by the given robot. Finally, it is shown that one can obtain analytical expressions for generalized forces of the magnetorheological damping elements of fractional order which are used for obtaining better model of (bio)robotic systems.
Ključne reči:
Biomimetic / Actuator redundancy / Biologically inspired control / Fractional order PID controller / Fractional order sliding mode controllerIzvor:
New Trends in Medical and Service Robots Challenges and Solutions, 2014, 227-241Izdavač:
- Springer International Publishing Switzerland
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)
- Razvoj novih metoda i tehnika za ranu dijagnostiku kancera grlića materice, debelog creva, usne duplje i melanoma na bazi digitalne slike i ekscitaciono-emisionih spektara u vidljivom i infracrvenom domenu (RS-MESTD-Integrated and Interdisciplinary Research (IIR or III)-41006)
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Mašinski fakultetTY - CHAP AU - Lazarević, Mihailo PY - 2014 UR - https://machinery.mas.bg.ac.rs/handle/123456789/6691 AB - Rapid development of biological science and technologies will further improve the active applications of control engineering by advanced biomimetic and biologically inspired research. First of all, it has promoted a biologically inspired control synergy approach that allows the resolution of redundancy of a given robotized system. In particular, the actuator redundancy control problem has been stated and solved by using Pontryagin’s maximum principle, where control synergy was established at the coordination level. Besides, fractional calculus (FC), is a mathematical topic with more than 300 years old history, in recent years there have been extensive research activities related to applications of FC in many areas of science and engineering. Here, they are presented by the advanced algorithms of PID control based on FC, tuned by genetic algorithms, in the position control of robotic system with 3 DOFs driven by DC motors. Also, a chattering-free fractional PDa sliding-mode controller in the control of a given robotic system has been proposed and realized. The effectiveness of the proposed optimal fractional order controls are demonstrated by the given robot. Finally, it is shown that one can obtain analytical expressions for generalized forces of the magnetorheological damping elements of fractional order which are used for obtaining better model of (bio)robotic systems. PB - Springer International Publishing Switzerland T2 - New Trends in Medical and Service Robots Challenges and Solutions T1 - Some Applications of Biomimetics and Fractional Calculus in Control and Modeling of (Bio)robotic Systems EP - 241 SP - 227 UR - https://hdl.handle.net/21.15107/rcub_machinery_6691 ER -
@inbook{ author = "Lazarević, Mihailo", year = "2014", abstract = "Rapid development of biological science and technologies will further improve the active applications of control engineering by advanced biomimetic and biologically inspired research. First of all, it has promoted a biologically inspired control synergy approach that allows the resolution of redundancy of a given robotized system. In particular, the actuator redundancy control problem has been stated and solved by using Pontryagin’s maximum principle, where control synergy was established at the coordination level. Besides, fractional calculus (FC), is a mathematical topic with more than 300 years old history, in recent years there have been extensive research activities related to applications of FC in many areas of science and engineering. Here, they are presented by the advanced algorithms of PID control based on FC, tuned by genetic algorithms, in the position control of robotic system with 3 DOFs driven by DC motors. Also, a chattering-free fractional PDa sliding-mode controller in the control of a given robotic system has been proposed and realized. The effectiveness of the proposed optimal fractional order controls are demonstrated by the given robot. Finally, it is shown that one can obtain analytical expressions for generalized forces of the magnetorheological damping elements of fractional order which are used for obtaining better model of (bio)robotic systems.", publisher = "Springer International Publishing Switzerland", journal = "New Trends in Medical and Service Robots Challenges and Solutions", booktitle = "Some Applications of Biomimetics and Fractional Calculus in Control and Modeling of (Bio)robotic Systems", pages = "241-227", url = "https://hdl.handle.net/21.15107/rcub_machinery_6691" }
Lazarević, M.. (2014). Some Applications of Biomimetics and Fractional Calculus in Control and Modeling of (Bio)robotic Systems. in New Trends in Medical and Service Robots Challenges and Solutions Springer International Publishing Switzerland., 227-241. https://hdl.handle.net/21.15107/rcub_machinery_6691
Lazarević M. Some Applications of Biomimetics and Fractional Calculus in Control and Modeling of (Bio)robotic Systems. in New Trends in Medical and Service Robots Challenges and Solutions. 2014;:227-241. https://hdl.handle.net/21.15107/rcub_machinery_6691 .
Lazarević, Mihailo, "Some Applications of Biomimetics and Fractional Calculus in Control and Modeling of (Bio)robotic Systems" in New Trends in Medical and Service Robots Challenges and Solutions (2014):227-241, https://hdl.handle.net/21.15107/rcub_machinery_6691 .