The variable, fractional-order discrete-time PD controller in the IISv1.3 robot arm control

• Authors: Piotr Ostalczyk , Dariusz Brzezinski , Piotr Duch , Maciej Łaski , Dominik Sankowski
• Languages of publication: EN

Abstracts

EN

In this paper, the discrete differentiation order functions of the variable, fractional-order PD controller (VFOPD) are considered. In the proposed VFOPD controller, a variable, fractional-order backward difference is applied to perform closed-loop, system error, discrete-time differentiation. The controller orders functions which may be related to the controller input or output signal or an input and output signal. An example of the VFOPD controller is applied to the robot arm closed-loop control due to system changes in moment of inertia. The close-loop system step responses are presented.

Keywords

EN

numerical simulation; solution of equations; computational techniques; simulations; general theory of classical mechanics of discrete systems

• Publisher: De Gruyter Open
• Journal: Open Physics
• Year: 2013
• Volume: 11
• Issue: 6
• Pages: 750-759

Dates

published

1 - 6 - 2013

online

9 - 10 - 2013

Contributors

author

Piotr Ostalczyk

• Łódź University of Technology, 18/22 Stefanowskiego St., 90-924, Łódź, Poland

author

Dariusz Brzezinski

• Łódź University of Technology, 18/22 Stefanowskiego St., 90-924, Łódź, Poland

author

Piotr Duch

• Łódź University of Technology, 18/22 Stefanowskiego St., 90-924, Łódź, Poland

author

Maciej Łaski

• Łódź University of Technology, 18/22 Stefanowskiego St., 90-924, Łódź, Poland

author

Dominik Sankowski

• Łódź University of Technology, 18/22 Stefanowskiego St., 90-924, Łódź, Poland

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Identifiers

DOI

10.2478/s11534-013-0254-9