Fractional Order PD and PID Position Control of an Angular Manipulator of 3DOF

Rojas Moreno, Arturo; Jara Sandoval, Victor

dc.contributor.author	Rojas Moreno, Arturo
dc.contributor.author	Jara Sandoval, Victor
dc.date.accessioned	2017-11-28T12:07:05Z
dc.date.available	2017-11-28T12:07:05Z
dc.date.issued	2013-10
dc.identifier.uri	https://hdl.handle.net/20.500.12815/44
dc.description.abstract	This paper deals with the implementation of two position control systems: FOPID (Fractional Order Proportional Integral Derivative) and FOPD (FO Proportional Derivative), which are employed to control simultaneously angular positions of the base, arm, and forearm of an angular manipulator of 3DOF (3 Degrees of Freedom). Intensive simulation studies, using the dynamic nonlinear model of the angular manipulator as well as the designed control laws, permitted to determine the initial values of the tuning parameters of the FOPD and FOPID controllers for real time implementation. Good performances of the designed control systems were verified via experimentation.	es_PE
dc.format	application/pdf	es_PE
dc.language.iso	eng	es_PE
dc.publisher	Institute of Electrical and Electronics Engineers	es_PE
dc.rights	info:eu-repo/semantics/openAccess	es_PE
dc.rights.uri	http://creativecommons.org/licenses/by-nc-nd/4.0/	*
dc.source	Repositorio Institucional UTEC	es_PE
dc.source	Universidad de Ingeniería y Tecnología - UTEC	es_PE
dc.subject	Manipulator dynamics	es_PE
dc.subject	Voltage control	es_PE
dc.subject	Servomotors	es_PE
dc.subject	Algorithm design and analysis	es_PE
dc.title	Fractional Order PD and PID Position Control of an Angular Manipulator of 3DOF	es_PE
dc.type	info:eu-repo/semantics/article	es_PE
dc.identifier.doi	https://doi.org/10.1109/LARS.2013.63	es_PE
dc.identifier.journal	2013 Latin American Robotics Symposium and Competition	es_PE