Please use this identifier to cite or link to this item: https://hdl.handle.net/20.500.11851/6193
Title: ADALINE based robust control in robotics: a Riemann-Liouville fractional differintegration based learning scheme
Authors: Efe, Mehmet Önder
Keywords: fractional adaptation laws
adaptive sliding mode control
Issue Date: 2009
Publisher: Springer
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.
URI: https://doi.org/10.1007/s00500-008-0289-9
https://hdl.handle.net/20.500.11851/6193
ISSN: 1432-7643
1433-7479
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

Show full item record

CORE Recommender

SCOPUSTM   
Citations

20
checked on Sep 23, 2022

WEB OF SCIENCETM
Citations

15
checked on Sep 24, 2022

Page view(s)

20
checked on Dec 26, 2022

Google ScholarTM

Check

Altmetric


Items in GCRIS Repository are protected by copyright, with all rights reserved, unless otherwise indicated.