Overview
- Introduces the novel method of Fractional-Order Modeling of Robotic Manipulators
- Proposes an algorithm to obtain the best Fractional-Order Model of a Robotic System to design a Fractional Controller
- Includes real-world robotic manipulators applications to validate the simulation results
Part of the book series: Intelligent Systems Reference Library (ISRL, volume 194)
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Table of contents (7 chapters)
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Front Matter
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Back Matter
Keywords
About this book
This book at hand is an appropriate addition to the field of fractional calculus applied to control systems. If an engineer or a researcher wishes to delve into fractional-order systems, then this book has many collections of such systems to work upon, and this book also tells the reader about how one can convert an integer-order system into an appropriate fractional-order one through an efficient and simple algorithm. If the reader further wants to explore the controller design for the fractional-order systems, then for them, this book provides a variety of controller design strategies. The use of fractional-order derivatives and integrals in control theory leads to better results than integer-order approaches and hence provides solid motivation for further development of control theory. Fractional-order models are more useful than the integer-order models when accuracy is of paramount importance. Real-time experimental validation of controller design strategies for the fractional-order plants is available. This book is beneficial to the academic institutes for postgraduate and advanced research-level that need a specific textbook on fractional control and its applications in srobotic manipulators. The book is also a valuable teaching and learning resource for undergraduate and postgraduate students.
Authors and Affiliations
Bibliographic Information
Book Title: Fractional Modeling and Controller Design of Robotic Manipulators
Book Subtitle: With Hardware Validation
Authors: Abhaya Pal Singh, Dipankar Deb, Himanshu Agrawal, Valentina E. Balas
Series Title: Intelligent Systems Reference Library
DOI: https://doi.org/10.1007/978-3-030-58247-0
Publisher: Springer Cham
eBook Packages: Intelligent Technologies and Robotics, Intelligent Technologies and Robotics (R0)
Copyright Information: Springer Nature Switzerland AG 2021
Hardcover ISBN: 978-3-030-58246-3Published: 16 October 2020
Softcover ISBN: 978-3-030-58249-4Published: 16 October 2021
eBook ISBN: 978-3-030-58247-0Published: 15 October 2020
Series ISSN: 1868-4394
Series E-ISSN: 1868-4408
Edition Number: 1
Number of Pages: XV, 138
Number of Illustrations: 51 b/w illustrations, 74 illustrations in colour
Topics: Computational Intelligence, Robotics and Automation, Control and Systems Theory