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https://hdl.handle.net/20.500.11851/6193
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DC Field | Value | Language |
---|---|---|
dc.contributor.author | Efe, Mehmet Önder | - |
dc.date.accessioned | 2021-09-11T15:35:14Z | - |
dc.date.available | 2021-09-11T15:35:14Z | - |
dc.date.issued | 2009 | en_US |
dc.identifier.issn | 1432-7643 | - |
dc.identifier.issn | 1433-7479 | - |
dc.identifier.uri | https://doi.org/10.1007/s00500-008-0289-9 | - |
dc.identifier.uri | https://hdl.handle.net/20.500.11851/6193 | - |
dc.description.abstract | This paper presents an approach to improve the performance of intelligent sliding model control achieved by the use of a fundamental constituent of soft computing, named Adaptive Linear Element (ADALINE). The proposed scheme is based on the fractional calculus. A previously considered tuning scheme is revised according to the rules of fractional order differintegration. After a comparison with the integer order counterpart, it is seen that the control system with the proposed adaptation scheme provides (1) better tracking performance, (2) suppression of undesired drifts in parameter evolution and (3) a very high degree of robustness and insensitivity to disturbances. The claims are justified through some simulations utilizing the dynamic model of a two degrees of freedom (DOF) direct drive robot arm and overall, the contribution of the paper is to introduce the fractional order calculus into a robust and nonlinear control problem with some outperforming features that are absent when the integer order differintegration operators are adopted. | en_US |
dc.description.sponsorship | Turkish Scientific Council (TUBITAK)Turkiye Bilimsel ve Teknolojik Arastirma Kurumu (TUBITAK) [107E137] | en_US |
dc.description.sponsorship | The Matlab toolbox Ninteger v.2.3<SUP>3</SUP> is used and the efforts of its developer, Dr. Duarte Valerio, are gratefully acknowledged. This work is supported by Turkish Scientific Council (TUBITAK) Contract 107E137. | en_US |
dc.language.iso | en | en_US |
dc.publisher | Springer | en_US |
dc.relation.ispartof | Soft Computing | en_US |
dc.rights | info:eu-repo/semantics/closedAccess | en_US |
dc.subject | fractional adaptation laws | en_US |
dc.subject | adaptive sliding mode control | en_US |
dc.title | Adaline Based Robust Control in Robotics: a Riemann-Liouville Fractional Differintegration Based Learning Scheme | en_US |
dc.type | Article | en_US |
dc.department | Faculties, Faculty of Engineering, Department of Electrical and Electronics Engineering | en_US |
dc.department | Fakülteler, Mühendislik Fakültesi, Elektrik ve Elektronik Mühendisliği Bölümü | tr_TR |
dc.identifier.volume | 13 | en_US |
dc.identifier.issue | 1 | en_US |
dc.identifier.startpage | 23 | en_US |
dc.identifier.endpage | 29 | en_US |
dc.authorid | 0000-0002-5992-895X | - |
dc.identifier.wos | WOS:000258546300003 | en_US |
dc.identifier.scopus | 2-s2.0-50349092764 | en_US |
dc.institutionauthor | Önder Efe, Mehmet | - |
dc.identifier.doi | 10.1007/s00500-008-0289-9 | - |
dc.relation.publicationcategory | Makale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı | en_US |
dc.identifier.scopusquality | Q1 | - |
item.openairetype | Article | - |
item.languageiso639-1 | en | - |
item.grantfulltext | none | - |
item.fulltext | No Fulltext | - |
item.openairecristype | http://purl.org/coar/resource_type/c_18cf | - |
item.cerifentitytype | Publications | - |
crisitem.author.dept | 02.5. Department of Electrical and Electronics Engineering | - |
Appears in Collections: | Elektrik ve Elektronik Mühendisliği Bölümü / Department of Electrical & Electronics Engineering Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection |
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