Fractional Modeling and Controller Design of Robotic Manipulators
With Hardware Validation
Autoren: Singh, A.P., Deb, D., Agrawal, H., Balas, V.E.
Vorschau- 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
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- Über dieses Buch
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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.
- Inhaltsverzeichnis (7 Kapitel)
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Introduction
Seiten 1-18
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Fractional Modeling of Robotic Systems
Seiten 19-43
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FOPID Controller Design for IO Model of Robotic Systems
Seiten 45-61
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Fractional Model Predictive and Adaptive Fractional Model Predictive Controller Design
Seiten 63-82
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Modeling, Stability and Fractional Control of Single Flexible Link Robotic Manipulator
Seiten 83-98
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Inhaltsverzeichnis (7 Kapitel)
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Bibliografische Information
- Bibliographic Information
-
- Buchtitel
- Fractional Modeling and Controller Design of Robotic Manipulators
- Buchuntertitel
- With Hardware Validation
- Autoren
-
- Abhaya Pal Singh
- Dipankar Deb
- Himanshu Agrawal
- Valentina E. Balas
- Titel der Buchreihe
- Intelligent Systems Reference Library
- Buchreihen Band
- 194
- Copyright
- 2021
- Verlag
- Springer International Publishing
- Copyright Inhaber
- Springer Nature Switzerland AG
- eBook ISBN
- 978-3-030-58247-0
- DOI
- 10.1007/978-3-030-58247-0
- Hardcover ISBN
- 978-3-030-58246-3
- Buchreihen ISSN
- 1868-4394
- Auflage
- 1
- Seitenzahl
- XV, 138
- Anzahl der Bilder
- 51 schwarz-weiß Abbildungen, 74 Abbildungen in Farbe
- Themen
