NDLI: ADALINE based robust control in robotics: a Riemann-Liouville fractional differintegration based learning scheme

Content Provider	Springer Nature Link
Author	Efe, Mehmet Önder
Copyright Year	2008
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.
Starting Page	23
Ending Page	29
Page Count	7
File Format	PDF
ISSN	14327643
Journal	Soft Computing
Volume Number	13
Issue Number	1
e-ISSN	14337479
Language	English
Publisher	Springer-Verlag
Publisher Date	2008-03-13
Publisher Place	Berlin, Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Fractional adaptation laws Adaptive sliding mode control Control , Robotics, Mechatronics Mathematical Logic and Foundations Artificial Intelligence (incl. Robotics) Computational Intelligence
Content Type	Text
Resource Type	Article
Subject	Theoretical Computer Science Software Geometry and Topology

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DOI 10.1007/s00500-008-0289-9 ORIGINAL PAPER ADALINE based robust control in robotics: a Riemann-Liouville fractional differintegration based learning scheme (2008)

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