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Fractional Modeling and Controller Design of Robotic Manipulators

Part of the book series: Intelligent Systems Reference Library ((ISRL,volume 194))

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Abstract

Fractional calculus is a variant of differential calculus wherein integrals and derivatives are in fractional order, and can be implemented for dynamic systems modeled both in integer order and fractional order equations. Fractional Calculus (FC) have generated considerable recent research interest and has found various applications especially in control systems. Fractional order modeling of a system results in better performance compared to its Integer model. Integer order model is itself an approximation of some FO equivalent model. Implementation of Fractional model is comparatively complex, but results in improved performance like robustness, transient stability, noise filtering and disturbance rejection. Designing controller for a given system is another major issue, and fractional order controllers have been demonstrated commendable performance even in this field.

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Authors and Affiliations

  1. Symbiosis International (Deemed University), Symbiosis Institute of Technology, Pune, India

    Abhaya Pal Singh

  2. Electrical Engineering Department, Institute of Infrastructure Technology Research and Management (IITRAM), Ahmedabad, Gujarat, India

    Dipankar Deb

  3. School of Electrical Engineering, Computing and Mathematical sciences Curtin University, Perth, Australia

    Himanshu Agrawal

  4. “Aurel Vlaicu” University of Arad, Arad, Romania

    Valentina E. Balas

Authors
  1. Abhaya Pal Singh
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  2. Dipankar Deb
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  3. Himanshu Agrawal
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  4. Valentina E. Balas
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Correspondence to Abhaya Pal Singh .

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Singh, A.P., Deb, D., Agrawal, H., Balas, V.E. (2021). Introduction. In: Fractional Modeling and Controller Design of Robotic Manipulators. Intelligent Systems Reference Library, vol 194. Springer, Cham. https://doi.org/10.1007/978-3-030-58247-0_1

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