Математички методи механике, 13. новембар 2013.

• 12. Новембар, 2013
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Наредни састанак Семинара биће одржан у среду, 13. новембра 2013. са почетком у 18 часова у сали 301ф, Математичког института САНУ.

Предавач: Михајло Лазаревић, Машински факултет Универзитета у Београду

Наслов предавања: SOME APPLICATIONS OF FRACTIONAL CALCULUS IN ADVANCED CONTROL OF ROBOTIC SYSTEMS

Садржај: The advanced algorithms of fractional order PIalphaDbeta control based on genetic algorithms in the position control of a three DOF`s robotic system driven by DC motors are presented.The Rodriguez` method is proposed for modeling kinematics and dynamics of the robotic system. The objective of this work is to find out the optimal settings for a fractional PIalphaDbetacontroller in order to fulfill the proposed design specifications for the closed-loop system. Also, it is suggested and obtained a chattering-free fractional PDalpha sliding-mode controller in the control of a given robotic system. The effectiveness of suggested optimal fractional order controls are demonstrated on the given robotic system. Finally, advanced control strategy for as an underactuated mechanical system -a rotary stabilization routines.