Abstract
Accurate modelling of robotic links may lead to fractional–order descriptions that complicate controller synthesis. This paper explores whether an LQG controller derived for an integer–order approximation can be applied to the original fractional–order model without appreciably degrading the system performance. Simulations show that this is the case for a fairly large range of orders of fractional derivatives and related combination coefficients.
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- 1.
Bryson suggests to use diagonal matrices Q and R and to choose the diagonal entries according to the maximum acceptable values (m.a.v.). In particular, \(Q_{ii}=( m.a.v. of x_i)^{-2}\) and \(R_{ii}=( m.a.v. of u_i)^{-2}\).
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Casagrande, D., Krajewski, W., Miani, S., Viaro, U. (2019). Performance Evaluation of an LQG Controller of a Robotic Link with Fractional Dampers Based on Their Integer–Order Approximation. In: Gasparetto, A., Ceccarelli, M. (eds) Mechanism Design for Robotics. MEDER 2018. Mechanisms and Machine Science, vol 66. Springer, Cham. https://doi.org/10.1007/978-3-030-00365-4_29
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DOI: https://doi.org/10.1007/978-3-030-00365-4_29
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