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- W2885811257 abstract "This paper presents a novel computationally efficient framework for the modeling and control of fully-actuated multibody systems. In this scheme, fractional-order computed-torque control laws are integrated with the generalized divide and conquer algorithm. The proposed framework has superior features such as high performance in modeling and controlling, an easy implementation, a stable convergence characteristic, and a significantly improved computational efficiency. To validate and show the advantages of the presented technique, it is applied to the trajectory tracking of a triple pendulum, and the results are compared to the ones given by the linear-quadratic regulator computed-torque control law." @default.
- W2885811257 created "2018-08-22" @default.
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- W2885811257 date "2018-06-01" @default.
- W2885811257 modified "2023-09-24" @default.
- W2885811257 title "Integration of Divide-and-Conquer Algorithm with Fractional Order Controllers for the Efficient Dynamic Modeling and Control of Multibody Systems" @default.
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- W2885811257 doi "https://doi.org/10.23919/acc.2018.8431882" @default.
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