Fractional Control of Coordinated Manipulators

被引：0

作者：

Fonseca Ferreira, N. M. ^{[1
]}

Tenreiro Machado, J. A. ^{[2
]}

机构：

[1] Inst Engn Coimbra, Dept Elect Engn, Rua Pedro Nunes, P-3031601 Coimbra, Portugal

[2] Inst Engn Porto, Dept Elect Engn, P-4200072 Porto, Portugal

来源：

JOURNAL OF ADVANCED COMPUTATIONAL INTELLIGENCE AND INTELLIGENT INFORMATICS | 2007年 / 11卷 / 09期

关键词：

control; fractional calculus; robotics; cooperating robots;

D O I：

10.20965/jaciii.2007.p1072

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

When two robots execute a coordinated motion it is required specification not only of the desired trajectory of each robot, but also of the forces exerted by the end effectors. This article discusses the fractional-order position and force control of two co-operative robots handling one object. The system robustness and performance is analyzed and compared with other control approaches. The experiments reveal that fractional algorithms lead to performances superior to classical integer-order controllers.

引用

页码：1072 / 1078

页数：7

共 50 条

[41] Modeling and Coordinated Control of Multiple Mobile Manipulators with Closed-chain Constraints
Pengjie Xu
Jingtao Zhang
Yuanzhe Cui
Kun Zhang
Qirong Tang
International Journal of Control, Automation and Systems, 2023, 21 : 1296 - 1308
[42] A New Hybrid Position/Force Control Scheme for Coordinated Multiple Mobile Manipulators
Rani, Manju
Kumar, Naveen
ARABIAN JOURNAL FOR SCIENCE AND ENGINEERING, 2019, 44 (03) : 2399 - 2411
[43] Adaptive Fuzzy Control of Multilateral Asymmetric Teleoperation for Coordinated Multiple Mobile Manipulators
Zhai, Di-Hua
Xia, Yuanqing
IEEE TRANSACTIONS ON FUZZY SYSTEMS, 2016, 24 (01) : 57 - 70
[44] Modeling and Coordinated Control of Multiple Mobile Manipulators with Closed-chain Constraints
Xu, Pengjie
Zhang, Jingtao
Cui, Yuanzhe
Zhang, Kun
Tang, Qirong
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2023, 21 (04) : 1296 - 1308
[45] A New Hybrid Position/Force Control Scheme for Coordinated Multiple Mobile Manipulators
Manju Rani
Naveen Kumar
Arabian Journal for Science and Engineering, 2019, 44 : 2399 - 2411
[46] Adaptive robust coordinated control of multiple mobile manipulators interacting with rigid environments
Li, Zhijun
Li, Jianxun
Kang, Yu
AUTOMATICA, 2010, 46 (12) : 2028 - 2034
[47] Tracking Control For Robotic Manipulators Using Fractional Order Controllers With Computed Torque Control
Angel, L.
Viola, J.
IEEE LATIN AMERICA TRANSACTIONS, 2018, 16 (07) : 1884 - 1891
[48] Output Feedback Fractional Integral Sliding Mode Control of Robotic Manipulators
Jonathan Munoz-Vazquez, Aldo
Martinez-Reyes, Fernando
JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS, 2019, 14 (05):
[49] Global sliding mode with fractional operators and application to control robot manipulators
Guo, Yuxiang
Ma, Bao-Li
INTERNATIONAL JOURNAL OF CONTROL, 2019, 92 (07) : 1497 - 1510
[50] Fractional Integral Sliding Mode Control for Trajectory Tracking of Underwater Manipulators
Huang D.
Han L.
Tang G.
Zhou Z.
Xu G.
Zhongguo Jixie Gongcheng/China Mechanical Engineering, 2019, 30 (13): : 1513 - 1518

← 1 2 3 4 5 →