Fractional-Order Sensing and Control: Embedding the Nonlinear Dynamics of Robot Manipulators into the Multidimensional Scaling Method

This paper studies the use of multidimensional scaling (MDS) to assess the performance of fractional-order variable structure controllers (VSCs). The test bed consisted of a revolute planar robotic manipulator. The fractional derivatives required by the VSC can be obtained either by adopting numeric...

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Autores principales:	António M. Lopes, José A. Tenreiro Machado
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	variable structure control fractional calculus robot manipulator fractional sensor multidimensional scaling information visualization Chemical technology TP1-1185
Acceso en línea:	https://doaj.org/article/bb3528c6b44740959594e93e90bddf1e
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id	oai:doaj.org-article:bb3528c6b44740959594e93e90bddf1e
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spelling	oai:doaj.org-article:bb3528c6b44740959594e93e90bddf1e2021-11-25T18:58:54ZFractional-Order Sensing and Control: Embedding the Nonlinear Dynamics of Robot Manipulators into the Multidimensional Scaling Method10.3390/s212277361424-8220https://doaj.org/article/bb3528c6b44740959594e93e90bddf1e2021-11-01T00:00:00Zhttps://www.mdpi.com/1424-8220/21/22/7736https://doaj.org/toc/1424-8220This paper studies the use of multidimensional scaling (MDS) to assess the performance of fractional-order variable structure controllers (VSCs). The test bed consisted of a revolute planar robotic manipulator. The fractional derivatives required by the VSC can be obtained either by adopting numerical real-time signal processing or by using adequate sensors exhibiting fractional dynamics. Integer (fractional) VCS and fractional (integer) sliding mode combinations with different design parameters were tested. Two performance indices based in the time and frequency domains were adopted to compare the system states. The MDS generated the loci of objects corresponding to the tested cases, and the patterns were interpreted as signatures of the system behavior. Numerical experiments illustrated the feasibility and effectiveness of the approach for assessing and visualizing VSC systems.António M. LopesJosé A. Tenreiro MachadoMDPI AGarticlevariable structure controlfractional calculusrobot manipulatorfractional sensormultidimensional scalinginformation visualizationChemical technologyTP1-1185ENSensors, Vol 21, Iss 7736, p 7736 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	variable structure control fractional calculus robot manipulator fractional sensor multidimensional scaling information visualization Chemical technology TP1-1185
spellingShingle	variable structure control fractional calculus robot manipulator fractional sensor multidimensional scaling information visualization Chemical technology TP1-1185 António M. Lopes José A. Tenreiro Machado Fractional-Order Sensing and Control: Embedding the Nonlinear Dynamics of Robot Manipulators into the Multidimensional Scaling Method
description	This paper studies the use of multidimensional scaling (MDS) to assess the performance of fractional-order variable structure controllers (VSCs). The test bed consisted of a revolute planar robotic manipulator. The fractional derivatives required by the VSC can be obtained either by adopting numerical real-time signal processing or by using adequate sensors exhibiting fractional dynamics. Integer (fractional) VCS and fractional (integer) sliding mode combinations with different design parameters were tested. Two performance indices based in the time and frequency domains were adopted to compare the system states. The MDS generated the loci of objects corresponding to the tested cases, and the patterns were interpreted as signatures of the system behavior. Numerical experiments illustrated the feasibility and effectiveness of the approach for assessing and visualizing VSC systems.
format	article
author	António M. Lopes José A. Tenreiro Machado
author_facet	António M. Lopes José A. Tenreiro Machado
author_sort	António M. Lopes
title	Fractional-Order Sensing and Control: Embedding the Nonlinear Dynamics of Robot Manipulators into the Multidimensional Scaling Method
title_short	Fractional-Order Sensing and Control: Embedding the Nonlinear Dynamics of Robot Manipulators into the Multidimensional Scaling Method
title_full	Fractional-Order Sensing and Control: Embedding the Nonlinear Dynamics of Robot Manipulators into the Multidimensional Scaling Method
title_fullStr	Fractional-Order Sensing and Control: Embedding the Nonlinear Dynamics of Robot Manipulators into the Multidimensional Scaling Method
title_full_unstemmed	Fractional-Order Sensing and Control: Embedding the Nonlinear Dynamics of Robot Manipulators into the Multidimensional Scaling Method
title_sort	fractional-order sensing and control: embedding the nonlinear dynamics of robot manipulators into the multidimensional scaling method
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/bb3528c6b44740959594e93e90bddf1e
work_keys_str_mv	AT antoniomlopes fractionalordersensingandcontrolembeddingthenonlineardynamicsofrobotmanipulatorsintothemultidimensionalscalingmethod AT joseatenreiromachado fractionalordersensingandcontrolembeddingthenonlineardynamicsofrobotmanipulatorsintothemultidimensionalscalingmethod
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Fractional-Order Sensing and Control: Embedding the Nonlinear Dynamics of Robot Manipulators into the Multidimensional Scaling Method

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