Matematički metodi mehanike, 13. novembar 2013.

Naredni sastanak Seminara biće održan u sredu, 13. novembra 2013. sa početkom u 18 časova u sali 301f, Matematičkog instituta SANU.

Predavač: Mihajlo Lazarević, Mašinski fakultet Univerziteta u Beogradu

Naslov predavanja: SOME APPLICATIONS OF FRACTIONAL CALCULUS IN ADVANCED CONTROL OF ROBOTIC SYSTEMS

Sadržaj: The advanced algorithms of fractional order PIalphaDbeta control based on genetic algorithms in the position control of a three DOF`s robotic system driven by DC motors are presented.The Rodriguez` method is proposed for modeling kinematics and dynamics of the robotic system. The objective of this work is to find out the optimal settings for a fractional PIalphaDbetacontroller in order to fulfill the proposed design specifications for the closed-loop system. Also, it is suggested and obtained a chattering-free fractional PDalpha sliding-mode controller in the control of a given robotic system. The effectiveness of suggested optimal fractional order controls are demonstrated on the given robotic system. Finally, advanced control strategy for as an underactuated mechanical system -a rotary stabilization routines.


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