NDLI: The modeling of multibody systems with fractional-order elements

Content Provider	IEEE Xplore Digital Library
Author	Kowal, J. Lepiarz, W.
Copyright Year	2013
Description	Author affiliation: Dept. of Process Control, AGH Univ. of Sci. & Technol., Krakow, Poland (Kowal, J.; Lepiarz, W.)
Abstract	The fractional-order models, that is models described by differential equations of arbitrary real order, are gaining popularity in advanced control theory. In this study, an implementation of fractional-order elements in multibody dynamics systems is shown. A fractional-order model of elements is used in co-analysis between multibody system modeling tool and control system modeling tool. The co-analysis uses multibody dynamics software to solve all ordinary, integer-order differential equations and control system modeling software to solve fractional-order differential equations. Results of such simulation may be used in virtual prototype built in MSC Adams software environment to simulate behavior of multibody fractional-order system. Two example models are shown in this paper, one with 1 degree of freedom (DOF) and one with 6 DOF. The research was conducted in order to prepare software tools and methods, which can be used in modeling of bionic multibody systems with fractional-order elements. A co-simulation between control and multibody system modeling software tools enables accurate and cost-effective development of bionic devices. Furthermore, fractional-order models of bionic elements describe certain phenomena better than in integer-order models.
Starting Page	208
Ending Page	211
File Size	789843
Page Count	4
File Format	PDF
ISBN	9781467344883
e-ISBN	9781467344906
DOI	10.1109/CarpathianCC.2013.6560539
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-05-26
Publisher Place	Poland
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Damping Biological system modeling Bionics Fractional-order control Fractional-order plants Control systems Shock absorbers Myltibody dynamic systems MATLAB Fractional calculus Biomimetics Differential equations Mathematical model
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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