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Czasopismo
2013 | 11 | 6 | 750-759
Tytuł artykułu

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

Treść / Zawartość
Warianty tytułu
Języki publikacji
EN
Abstrakty
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.
Wydawca

Czasopismo
Rocznik
Tom
11
Numer
6
Strony
750-759
Opis fizyczny
Daty
wydano
2013-06-01
online
2013-10-09
Twórcy
  • Łódź University of Technology, 18/22 Stefanowskiego St., 90-924, Łódź, Poland, postalcz@p.lodz.pl
autor
  • Łódź University of Technology, 18/22 Stefanowskiego St., 90-924, Łódź, Poland, pduch@kis.p.lodz.pl
  • Łódź University of Technology, 18/22 Stefanowskiego St., 90-924, Łódź, Poland, mlaski@kis.p.lodz.pl
  • Łódź University of Technology, 18/22 Stefanowskiego St., 90-924, Łódź, Poland, dsan@kis.p.lodz.pl
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Typ dokumentu
Bibliografia
Identyfikatory
Identyfikator YADDA
bwmeta1.element.-psjd-doi-10_2478_s11534-013-0254-9
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