TY - GEN
T1 - Fractional order impedance control by particle swarm optimization
AU - Oh, Sehoon
AU - Hori, Yoichi
PY - 2008
Y1 - 2008
N2 - This paper suggests a methodology to realize fractional order impedance using feedback control of a motor, which can be called fractional impedance control. First, a novel discretization method of a fractional order integrator is proposed based on the coefficient fitting by particle swarm optimization. Based on this fractional order integrator, fractional order impedance control is realized using feedback control design. The characteristics of fractional impedance are analyzed by simulations, and the algorithm is implemented in a motor and the characteristics are made clear by experiments.
AB - This paper suggests a methodology to realize fractional order impedance using feedback control of a motor, which can be called fractional impedance control. First, a novel discretization method of a fractional order integrator is proposed based on the coefficient fitting by particle swarm optimization. Based on this fractional order integrator, fractional order impedance control is realized using feedback control design. The characteristics of fractional impedance are analyzed by simulations, and the algorithm is implemented in a motor and the characteristics are made clear by experiments.
KW - Fractional order calculus
KW - Fractional order impedance
KW - Human-friendly motion control
KW - Impedance control
KW - Particle swarm optimization
UR - https://www.scopus.com/pages/publications/58149086987
U2 - 10.1109/ICCAS.2008.4694414
DO - 10.1109/ICCAS.2008.4694414
M3 - Conference contribution
AN - SCOPUS:58149086987
SN - 9788995003893
T3 - 2008 International Conference on Control, Automation and Systems, ICCAS 2008
SP - 1936
EP - 1941
BT - 2008 International Conference on Control, Automation and Systems, ICCAS 2008
T2 - 2008 International Conference on Control, Automation and Systems, ICCAS 2008
Y2 - 14 October 2008 through 17 October 2008
ER -