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Keywords = Puu system of fractional order

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15 pages, 25738 KiB  
Article
Application of the Half-Order Derivative to Impedance Control of the 3-PUU Parallel Robot
by Luca Bruzzone, Pietro Fanghella and Davide Basso
Actuators 2022, 11(2), 45; https://doi.org/10.3390/act11020045 - 1 Feb 2022
Cited by 6 | Viewed by 2924
Abstract
This paper presents an extension of impedance control of robots based on fractional calculus. In classical impedance control, the end-effector reactions are proportional to the end-effector position errors through the stiffness matrix K, while damping is proportional to the first-order time-derivative of the [...] Read more.
This paper presents an extension of impedance control of robots based on fractional calculus. In classical impedance control, the end-effector reactions are proportional to the end-effector position errors through the stiffness matrix K, while damping is proportional to the first-order time-derivative of the end-effector coordinate errors through the damping matrix D. In the proposed approach, a half-derivative damping is added, proportional to the half-order time-derivative of the end-effector coordinate errors through the half-derivative damping matrix HD. The discrete-time digital implementation of the half-order derivative alters the steady-state behavior, in which only the stiffness term should be present. Consequently, a compensation method is proposed, and its effectiveness is validated by multibody simulation on a 3-PUU parallel robot. The proposed approach can be considered the extension to MIMO robotic systems of the PDD1/2 control scheme for SISO mechatronic systems, with potential benefits in the transient response performance. Full article
(This article belongs to the Special Issue Dynamics and Control of Robot Manipulators)
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12 pages, 22008 KiB  
Article
Puu System of Fractional Order and Its Chaos Suppression
by Marius-F. Danca
Symmetry 2020, 12(3), 340; https://doi.org/10.3390/sym12030340 - 27 Feb 2020
Cited by 15 | Viewed by 3818
Abstract
In this paper, the fractional-order variant of Puu’s system is introduced, and, comparatively with its integer-order counterpart, some of its characteristics are presented. Next, an impulsive chaos control algorithm is applied to suppress the chaos. Because fractional-order continuous-time or discrete-time systems have not [...] Read more.
In this paper, the fractional-order variant of Puu’s system is introduced, and, comparatively with its integer-order counterpart, some of its characteristics are presented. Next, an impulsive chaos control algorithm is applied to suppress the chaos. Because fractional-order continuous-time or discrete-time systems have not had non-constant periodic solutions, chaos suppression is considered under some numerical assumptions. Full article
(This article belongs to the Special Issue Bifurcation and Chaos in Fractional-Order Systems)
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