In this article, Ritz approximation have been employed to obtain the numerical solutions of a class of the fractional optimal control problems based on the Caputo fractional derivative. Using polynomial basis functions, we obtain a system of nonlinear algebraic equations. This nonlinear system of equation is solved and the coefficients of basis polynomial are derived. The convergence of the num...

Impedance control is an important method in robot–environment interaction. In traditional impedance control, the damping force regarded as a linear viscoelastic model, which limits description of dynamic model system to certain extent. For robot manipulator, optimal parameters controller are key improve performance. this paper, described more accurately by fractional calculus than and fractiona...

The optimal control theory in mathematics aims to study the finding of for a dynamic system over time, where an objective function is optimized. It has broad range applications engineering, operations research, and science. main purpose this provide numerical algorithms two cases problems fractional order that involve derivatives with free non-free terminal time. In addition comparing results t...

The major contribution of this paper is to introduce the fractional calculus used to develop a fractional-order model for the DC electrical drive and, based on it, to design a fractional adaptive controller. In such a context, two modifications of the conventional Model Reference Adaptive Control theory are presented. Based on simulation results obtained in Matlab/ Simulink, the benefits of fra...

This paper presents a design and evaluation of fractional-order self optimizing control (FOSOC) architecture for process control. It is based on real-time derivative-free optimization layer that adjusts the parameters discrete-time proportional integral (FOPI) controller according to an economic cost function. A simulation benchmark designed assess performance FOSOC first order plus dead time s...

in this paper, we present a fractional mathematical model of a one-dimensional phase phase change problem (stefan problem) with latent heat a power function of position. this model includes space-time fractional derivatives in caputo sense and time dependent surface heat flux. an approximate solution of this model is obtained by optimal homotopy asymptotic method (oham) to find an approximate s...

In this paper, we study numerical solutions of the time-space fractional wave equation in a complex domain. The fractional time is taken in the sense of the RiemannLiouville differential operator while the fractional space is assumed in the SrivastavaOwa differential operator. Here we employ some properties of the univalent functions in the unit disk to determine the upper bound of this solutio...

abstract: this paper presents dynamic modelling and control of a linear prismatic series of elastic actuator. the capability of generating large torques is why this actuator is increasingly used in human-assistive robotic systems. due to having human in the loop, the actuator requires precise control. a fractional pid controller known for its improved performance is used for the control, due to...