Integration of Divide-and-Conquer Algorithm with Fractional Order Controllers for the Efficient Dynamic Modeling and Control of Multibody Systems

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish (US)
Title of host publication2018 Annual American Control Conference, ACC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4201-4206
Number of pages6
Volume2018-June
ISBN (Print)9781538654286
DOIs
Publication statusPublished - Aug 9 2018
Event2018 Annual American Control Conference, ACC 2018 - Milwauke, United States
Duration: Jun 27 2018Jun 29 2018

Other

Other2018 Annual American Control Conference, ACC 2018
CountryUnited States
CityMilwauke
Period6/27/186/29/18

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Dabiri, A., Poursina, M., & Butcher, E. (2018). Integration of Divide-and-Conquer Algorithm with Fractional Order Controllers for the Efficient Dynamic Modeling and Control of Multibody Systems. In 2018 Annual American Control Conference, ACC 2018 (Vol. 2018-June, pp. 4201-4206). [8431882] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/ACC.2018.8431882