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1 | (18) |
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1.1 Applications of Fractional Calculus |
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2 | (6) |
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1.2 Studies on Robotic Manipulators |
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8 | (2) |
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1.2.1 Supported by Simulations |
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9 | (1) |
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1.2.2 Supported by Experiments |
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10 | (1) |
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10 | (3) |
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13 | (6) |
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2 Fractional Modeling of Robotic Systems |
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19 | (26) |
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2.1 Mathematical Modeling |
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20 | (15) |
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2.1.1 Mass-Spring-Damper (MSD) System |
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20 | (1) |
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2.1.2 Inverted Pendulum on a Cart System (POAC) |
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21 | (5) |
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2.1.3 Double Inverted Pendulum on a Cart System (DI-POAC) |
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26 | (2) |
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2.1.4 2D-Gantry Crane System |
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28 | (2) |
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2.1.5 Missile Launching Vehicle/Pad (MLV) |
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30 | (5) |
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2.2 Fractional Modeling of a System |
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35 | (7) |
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2.2.1 Embedding to Inverted Pendulum and Cart (POAC) |
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37 | (1) |
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2.2.2 Embedding to 2D-Gantry Crane System |
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38 | (2) |
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2.2.3 Embedding to Missile Launching Vehicle (MLV) |
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40 | (2) |
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42 | (3) |
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3 FOPID Controller Design for IO Model of Robotic Systems |
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45 | (18) |
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3.1 Controller Design for Mass-Spring System |
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46 | (2) |
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3.2 PID and Fractional PID Controller Design |
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48 | (8) |
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49 | (5) |
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3.2.2 For 2D Gantry Crane System |
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54 | (2) |
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3.3 Model Predictive Controller (MPC) |
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56 | (4) |
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60 | (3) |
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4 Fractional Model Predictive and Adaptive Fractional Model Predictive Controller Design |
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63 | (20) |
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4.1 Fractional Model Predictive Controller (FMPC) Design for POAC System |
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64 | (4) |
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4.1.1 Case 1: With Changing Cart Mass |
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67 | (1) |
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4.1.2 Case 2: With Changing Pendulum Mass |
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68 | (1) |
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4.2 Design of FMPC for 2-D Gantry Crane System |
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68 | (6) |
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4.3 FMPC for Missile Launching Pad |
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74 | (3) |
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4.4 Adaptive Fractional Model Predictive Control (AFMPC) |
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77 | (4) |
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79 | (1) |
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4.4.2 For 2D Gantry Crane System |
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80 | (1) |
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81 | (2) |
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5 Modeling, Stability and Fractional Control of Single Flexible Link Robotic Manipulator |
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83 | (16) |
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5.1 Fractional Order Model of SFLRM and Its Validation |
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85 | (4) |
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5.2 Stability Analysis and Control Law Design |
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89 | (4) |
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5.3 Experimental Validation |
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93 | (3) |
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96 | (3) |
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6 Improved Fractional Model Selection and Control with Experimental Validation |
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99 | (22) |
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6.1 Algorithm for Selection of a Fractional Model |
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101 | (2) |
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6.2 Evaluation of the Algorithm |
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103 | (4) |
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6.3 Simulation Results Analysis with Existing Fractional Models |
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107 | (2) |
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6.4 Experimental Results Analysis on Robotic Manipulators |
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109 | (9) |
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6.4.1 Fractional Controller Design for Integer Order Models |
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112 | (3) |
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6.4.2 Integer Controller for Fractional Order Models |
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115 | (1) |
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6.4.3 Fractional Controller Design for Fractional Order Model |
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116 | (2) |
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118 | (3) |
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7 Model Reference Adaptive Fractional Order Controller Design |
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121 | (16) |
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121 | (2) |
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7.2 Adaptive FO Controller Design for Pendulum on a Cart System |
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123 | (3) |
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7.3 Adaptive FO Controller Design for 2D Gantry Crane System |
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126 | (2) |
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7.4 Adaptive FO Controller Design for Single Rigid Link Robotic Manipulator |
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128 | (2) |
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7.5 Adaptive FO Controller Design for 2DOF Serial Link Robotic Manipulator |
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130 | (1) |
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7.6 Adaptive FO Controller Design for Missile Launching System (MLV) |
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131 | (2) |
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133 | (4) |
Appendix A |
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137 | |