Fractional PD-IλDμ Error Manifolds for Robust Tracking Control of Robotic Manipulators
| Audiencia | Público en general | es_ES |
| Cobertura | México | es_ES |
| Fecha de ingreso | 2026-09-15T00:30:27Z | |
| Fecha de publicación | 2018-01-01 | |
| Resumen | Linear proportional-integral-derivative (PID) controller stands for the most widespread technique in industrial applications due to its simple structure and easy tuning rules. Recently, considering fractional orders λ and μ, there has been studied the fractional-order PIλDμ (FPID) controller to provide salient advantages in comparison to the conventional integer-order PID, such as, a more flexible structure and a preciser performance. In addition, proportional and derivative (PD) and PID error manifolds have been classically proposed; however, there remains the question on how FPID-like error manifolds perform for the control of nonlinear plants, such as robots. In this paper, this problem is addressed by proposing a PD-IλDμ error manifold for novel vector saturated control. The stability analysis shows convergence into a small vicinity of the origin, wherein, such hybrid combination of integer- and fractional-order error manifolds provides further insights into the closed-loop response of the nonlinear plant. Simulations studies are carried out to illustrate the feasibility of the proposed scheme. | es_ES |
| Doi | https://doi.org/10.1115/1.4041605 | es_ES |
| URI | https://riuat.uat.edu.mx/handle/123456789/2432 | |
| Idioma | es | es_ES |
| Editorial | ASME International | es_ES |
| Relación | Journal of Dynamic Systems, Measurement, and Control | es_ES |
| URL relacionado | https://doi.org/10.1115/1.4041605 | es_ES |
| Derechos | Acceso abierto (Metadatos de producción científica) | es_ES |
| Licencia | http://purl.org/coar/access_right/c_abf2 | es_ES |
| Fuente | Journal of Dynamic Systems, Measurement, and Control | |
| Título | Fractional PD-IλDμ Error Manifolds for Robust Tracking Control of Robotic Manipulators | es_ES |
| Tipo | Artículo | es_ES |
| Arbitrado | Ha sido Arbitrado | es_ES |
| Autor | Muñoz-Vázquez, Aldo Jonathan | |
| Autor | Parra-Vega, Vicente | |
| Autor | Sánchez-Orta, Anand | |
| Autor | Romero-Galván, Gerardo | |
| Autor | Muñoz-Vázquez, Aldo Jonathan | es_ES |
| Autor | Parra-Vega, Vicente | es_ES |
| Autor | Sánchez-Orta, Anand | es_ES |
| Autor | Romero-Galván, Gerardo | es_ES |
| Institución | Universidad Autónoma de Tamaulipas | |
| Institución | Universidad Autónoma de Tamaulipas | es_ES |
| Número | 3 | es_ES |
| URL relacionada | https://doi.org/10.1115/1.4041605 | |
| Tipo de artículo | Indexado | |
| Tipo de artículo | Indexado | es_ES |
| Volumen | 141 | es_ES |