ArticleSensors (Basel, Switzerland)2021
Fractional-Order Sensing and Control: Embedding the Nonlinear Dynamics of Robot Manipulators into the Multidimensional Scaling Method.
Article in Sensors (Basel, Switzerland), 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 2 papers.
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Who cites it
2 citing papers in PubMed.
- Improving Mobile Robot Maneuver Performance Using Fractional-Order Controller.Sensors (Basel, Switzerland) · 2023Article
- In memory of Professor José António Tenreiro Machado (1957-2021).Nonlinear dynamics · 2022Article
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2 authors.
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Abstract
This paper studies the use of multidimensional scaling (MDS) to assess the performance of fractional-order variable structure controllers (VSCs). The test bed consisted of a revolute planar robotic manipulator. The fractional derivatives required by the VSC can be obtained either by adopting numerical real-time signal processing or by using adequate sensors exhibiting fractional dynamics. Integer (fractional) VCS and fractional (integer) sliding mode combinations with different design parameters were tested. Two performance indices based in the time and frequency domains were adopted to compare the system states. The MDS generated the loci of objects corresponding to the tested cases, and the patterns were interpreted as signatures of the system behavior. Numerical experiments illustrated the feasibility and effectiveness of the approach for assessing and visualizing VSC systems.
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