Abstract
This paper presents a novel computationally efficient framework for the modeling and control of fully-actuated multibody systems. In this scheme, fractional-order computed-torque control laws are integrated with the generalized divide and conquer algorithm. The proposed framework has superior features such as high performance in modeling and controlling, an easy implementation, a stable convergence characteristic, and a significantly improved computational efficiency. To validate and show the advantages of the presented technique, it is applied to the trajectory tracking of a triple pendulum, and the results are compared to the ones given by the linear-quadratic regulator computed-torque control law.
| Original language | English (US) |
|---|---|
| Title of host publication | 2018 Annual American Control Conference, ACC 2018 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 4201-4206 |
| Number of pages | 6 |
| Volume | 2018-June |
| ISBN (Print) | 9781538654286 |
| DOIs | |
| State | Published - Aug 9 2018 |
| Event | 2018 Annual American Control Conference, ACC 2018 - Milwauke, United States Duration: Jun 27 2018 → Jun 29 2018 |
Other
| Other | 2018 Annual American Control Conference, ACC 2018 |
|---|---|
| Country | United States |
| City | Milwauke |
| Period | 6/27/18 → 6/29/18 |
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ASJC Scopus subject areas
- Electrical and Electronic Engineering
Cite this
Integration of Divide-and-Conquer Algorithm with Fractional Order Controllers for the Efficient Dynamic Modeling and Control of Multibody Systems. / Dabiri, Arman; Poursina, Mohammad; Butcher, Eric.
2018 Annual American Control Conference, ACC 2018. Vol. 2018-June Institute of Electrical and Electronics Engineers Inc., 2018. p. 4201-4206 8431882.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Integration of Divide-and-Conquer Algorithm with Fractional Order Controllers for the Efficient Dynamic Modeling and Control of Multibody Systems
AU - Dabiri, Arman
AU - Poursina, Mohammad
AU - Butcher, Eric
PY - 2018/8/9
Y1 - 2018/8/9
N2 - This paper presents a novel computationally efficient framework for the modeling and control of fully-actuated multibody systems. In this scheme, fractional-order computed-torque control laws are integrated with the generalized divide and conquer algorithm. The proposed framework has superior features such as high performance in modeling and controlling, an easy implementation, a stable convergence characteristic, and a significantly improved computational efficiency. To validate and show the advantages of the presented technique, it is applied to the trajectory tracking of a triple pendulum, and the results are compared to the ones given by the linear-quadratic regulator computed-torque control law.
AB - This paper presents a novel computationally efficient framework for the modeling and control of fully-actuated multibody systems. In this scheme, fractional-order computed-torque control laws are integrated with the generalized divide and conquer algorithm. The proposed framework has superior features such as high performance in modeling and controlling, an easy implementation, a stable convergence characteristic, and a significantly improved computational efficiency. To validate and show the advantages of the presented technique, it is applied to the trajectory tracking of a triple pendulum, and the results are compared to the ones given by the linear-quadratic regulator computed-torque control law.
UR - http://www.scopus.com/inward/record.url?scp=85052552536&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85052552536&partnerID=8YFLogxK
U2 - 10.23919/ACC.2018.8431882
DO - 10.23919/ACC.2018.8431882
M3 - Conference contribution
AN - SCOPUS:85052552536
SN - 9781538654286
VL - 2018-June
SP - 4201
EP - 4206
BT - 2018 Annual American Control Conference, ACC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
ER -