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Realization of fractional-order controllers: analysis, synthesis and applicatio...
Barbosa, Ramiro S.; Jesus, Isabel S.; Silva, Manuel F.; Machado, J. A. TenreiroThe synthesis and application of fractional-order controllers is now an active research field. This article investigates the use of fractional-order PID controllers in the velocity control of an experimental modular servo system. The systern consists of a digital servomechanism and open-architecture software environment for real-time control experiments using MATLAB/Simulink. Different tuning methods will be em...
Fractional control of legged robots
Silva, Manuel F.; Machado, J. A. TenreiroFractional calculus (FC) is being used in several distinct areas of science and engineering, being recognized its ability to yield a superior modelling and control in many dynamical systems. This article illustrates the application of FC in the area of robot control. A Fractional Order PDμ controller is proposed for the control of an hexapod robot with 3 dof legs. It is demonstrated the superior performance of ...
Application of fractional calculus in engineering
Machado, J. A. Tenreiro; Jesus, Isabel S.; Barbosa, Ramiro S.; Silva, Manuel F.; Reis, CecíliaFractional Calculus (FC) goes back to the beginning of the theory of differential calculus. Nevertheless, the application of FC just emerged in the last two decades. It has been recognized the advantageous use of this mathematical tool in the modelling and control of many dynamical systems. Having these ideas in mind, this paper discusses a FC perspective in the study of the dynamics and control of several syst...
A survey of technologies and applications for climbing robots locomotion and ad...
Silva, Manuel F.; Machado, J. A. TenreiroThe interest in the development of climbing robots has grown rapidly in the last years. Climbing robots are useful devices that can be adopted in a variety of applications, such as maintenance and inspection in the process and construction industries. These systems are mainly adopted in places where direct access by a human operator is very expensive, because of the need for scaffolding, or very dangerous, due ...
Some applications of fractional calculus in engineering
Machado, J. A. Tenreiro; Silva, Manuel F.; Barbosa, Ramiro S.; Jesus, Isabel S.; Reis, Cecília; Marcos, Maria da Graça; Galhano, AlexandraFractional Calculus FC goes back to the beginning of the theory of differential calculus. Nevertheless, the application of FC just emerged in the last two decades, due to the progress in the area of chaos that revealed subtle relationships with the FC concepts. In the field of dynamical systems theory some work has been carried out but the proposed models and algorithms are still in a preliminary stage of est...
Control and dynamics of fractional order systems
Machado, J. A. Tenreiro; Jesus, Isabel S.; Barbosa, Ramiro S.; Silva, Manuel F.Fractional Calculus (FC) goes back to the beginning of the theory of differential calculus. Nevertheless, the application of FC just emerged in the last two decades due to the progress in the area of nonlinear dynamics. This article discusses several applications of fractional calculus in science and engineering, namely: the control of heat systems, the tuning of PID controllers based on fractional calculus con...
Tuning and application of integer and fractional order PID controllers
Barbosa, Ramiro S.; Silva, Manuel F.; Machado, J. A. TenreiroFractional calculus (FC) is widely used in most areas of science and engineering, being recognized its ability to yield a superior modeling and control in many dynamical systems. In this perspective, this article illustrates two applications of FC in the area of control systems. Firstly, is presented a methodology of tuning PID controllers that gives closed-loop systems robust to gain variations. After, a fract...
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