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• W2894920927 abstract "Linear proportional-integral-derivative (PID) controller stands for the most widespread technique in industrial applications due to its simple structure and easy tuning rules. Recently, considering fractional orders λ and μ, there has been studied the fractional-order PIλDμ (FPID) controller to provide salient advantages in comparison to the conventional integer-order PID, such as, a more flexible structure and a preciser performance. In addition, proportional and derivative (PD) and PID error manifolds have been classically proposed; however, there remains the question on how FPID-like error manifolds perform for the control of nonlinear plants, such as robots. In this paper, this problem is addressed by proposing a PD-IλDμ error manifold for novel vector saturated control. The stability analysis shows convergence into a small vicinity of the origin, wherein, such hybrid combination of integer- and fractional-order error manifolds provides further insights into the closed-loop response of the nonlinear plant. Simulations studies are carried out to illustrate the feasibility of the proposed scheme." @default.
• W2894920927 created "2018-10-12" @default.
• W2894920927 creator A5022561743 @default.
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• W2894920927 date "2018-11-08" @default.
• W2894920927 modified "2023-10-18" @default.
• W2894920927 title "Fractional PD-IλDμ Error Manifolds for Robust Tracking Control of Robotic Manipulators" @default.
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• W2894920927 doi "https://doi.org/10.1115/1.4041605" @default.
• W2894920927 hasPublicationYear "2018" @default.
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