Fractional-order passivity-based adaptive controller for a robot manipulator type scara

DOI10.1142/S0218348X20400083MaRDI QIDQ5025573zbMATH OpenOpenAlexFDO

Authors J. E. Lavín-Delgado, J. F. Gómez-Aguilar, G. Delgado-Reyes, M. A. Ruíz-Jaimes

Publication date 2 February 2022

Published in Fractals (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1142/s0218348x20400083

zbMATH Keywords

Atangana-Baleanu integralCaputo-Fabrizio derivativefractional calculusfractional-order passivity-based adaptive controlfractional-order PI controllerinduction motorSCARA robot

Mathematics Subject Classification ID

Fractional derivatives and integrals (26A33) Control/observation systems governed by ordinary differential equations (93C15) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• A switching-based collaborative fractional order fuzzy logic controllers for robotic manipulators
• Applications of fractional calculus
• Fractional calculus. Models and numerical methods
• Induction motor control design
• New numerical approach for fractional differential equations
• On some new properties of fractional derivatives with Mittag-Leffler kernel

Cited in

(14)

• On the trajectory tracking control for an SCARA robot manipulator in a fractional model driven by induction motors with PSO tuning
• Trajectory tracking control based on non-singular fractional derivatives for the PUMA 560 robot arm
• The study of fractional order controller with SLAM in the humanoid robot
• Fractional-order control of a hexapod robot
• The variable-inertia modified computed-torque control of robot manipulators
• Using fractional derivatives in joint control of hexapod robots
• Fractional order controller design for A flexible link manipulator robot
• Passivity‐based adaptive control of a 2‐DOF serial robot manipulator with temperature dependent joint frictions
• DYNAMICS OF A FRACTIONAL-ORDER BAM NEURAL NETWORK WITH LEAKAGE DELAY AND COMMUNICATION DELAY
• Fractional order impedance control
• Tuning of fractional order controller and prefilter in MIMO robust motion control: SCARA robot
• PASSIVITY AND PASSIVATION OF FRACTIONAL-ORDER NONLINEAR SYSTEMS
• A robust adaptive velocity observer for mechanical systems transformed in cascade form
• Fractional-order dynamics and adaptive dynamic surface control of flexible-joint robots

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