Fractional Order Controller Design for Underactuated Mechanical Systems

机译：欠驱动机械系统的分数阶控制器设计

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Many real dynamic systems are better characterized using a non-integer order dynamic model based on fractional calculus. Traditional calculus is based on integer order diu000berentiation and integration. The concept of fractional calculus has tremendous potential to change the way we see, model, and control the nature around us. In this paper we propose a Fractional Order Controller for an underactuated mechanical system named Pendulum on a Cart system (POAC). The proposed system has two degrees-of-freedom and one control input. The mathematical model is derived using Lagrangian method and the stabilization is achieved with constraints using Fractional Order Controller. Simulation are performed to validate the control law and compared with Integer Order Controller.

机译：使用基于分数演算的非整数阶动态模型可以更好地表征许多实际的动态系统。传统的演算是基于整数阶双微分和积分。分数演算的概念具有巨大的潜力，可以改变我们对周围自然的观察，建模和控制方式。在本文中，我们为小车系统（POAC）上的摆式机械系统提出了分数阶控制器。所提出的系统具有两个自由度和一个控制输入。使用拉格朗日方法导出数学模型，并使用分数阶控制器在约束条件下实现稳定性。进行仿真以验证控制律，并与Integer Order Controller进行比较。

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来源
《Proceedings of the Fifth symposium on fractional differentiation and its applications》|2012年|1-6|共6页
会议地点 Nanjing(CN)
作者
Abhaya Pal Singh; Faruk Kazi; N. M. Singh; Vishwesh Vyawahare;
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作者单位

Veermata Jijabai Technological Institute, Mumbai,Electrical Engineering Department, INDIA;

Veermata Jijabai Technological Institute, Mumbai,Electrical Engineering Department, INDIA;

Veermata Jijabai Technological Institute, Mumbai,Electrical Engineering Department, INDIA;

Indian Institute of Technology (IIT), Bombay, Mumbai;

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会议组织
原文格式 PDF
正文语种 eng
中图分类数学;
关键词
Fractional order controller (FOC); FOPID; IOC; PID; POAC; Underactuated mechanical system.;

机译：分数阶控制器（FOC）; FOPID; IOC; PID; POAC;欠驱动机械系统;

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3. Controller design for a class of underactuated mechanical systems [J] . Y.-F. Chen, A.-C. Huang Control Theory & Applications, IET . 2012,第1期

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4. Fractional Order Controller Design for Underactuated Mechanical Systems [C] . Abhaya Pal Singh, Faruk Kazi, N. M. Singh, Symposium on fractional differentiation and its applications . 2012

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Fractional Order Controller Design for Underactuated Mechanical Systems

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