| Titre : |
Fractional Order Control Strategies for Delta Robot : Stratégies de commande d’ordre fractionnaire pour robot Delta |
| Type de document : |
document électronique |
| Auteurs : |
Yacine Hatem, Auteur ; Sidali Ihadadene, Auteur ; Ladaci, Samir, Directeur de thèse |
| Editeur : |
[S.l.] : [s.n.] |
| Année de publication : |
2025 |
| Importance : |
1 fichier PDF (10.8 MO) |
| Note générale : |
Mode d'accès : accès au texte intégral par intranet
Mémoire de Projet de Fin d’Etudes:Automatique: Alger, Ecole Nationale Polytechnique : 2025
Bibliogr. p. 96-99 . - Annexe p.100-101 |
| Langues : |
Anglais (eng) |
| Mots-clés : |
Delta Robot
Trajectory Tracking
Fractional Calculus
Direct and Indirect Adap-tive Control
Backstepping Method
Model Reference Adaptive Control |
| Index. décimale : |
PA00525 |
| Résumé : |
Parallel robots, such as the Delta robot, are increasingly used in demanding industrial applica-
tions due to their exceptional performance in terms of speed, precision, and payload capacity.
One of the main challenges in their use lies in the optimal management of their control to
ensure enhanced stability and accuracy in the face of disturbances and system uncertainties.
This thesis proposes an innovative approach using fractional-order control to improve the adap-
tive control of this type of robot. Nonlinear fractional-order control techniques allow for finer
regulation and better system responsiveness, while ensuring reinforced stability. Experimental
results validate this approach, showing that it offers superior performance compared to tradi-
tional methods. This work highlights the importance of evolving control strategies to meet the
current challenges of robotic systems in modern industrial environments. |
Fractional Order Control Strategies for Delta Robot : Stratégies de commande d’ordre fractionnaire pour robot Delta [document électronique] / Yacine Hatem, Auteur ; Sidali Ihadadene, Auteur ; Ladaci, Samir, Directeur de thèse . - [S.l.] : [s.n.], 2025 . - 1 fichier PDF (10.8 MO). Mode d'accès : accès au texte intégral par intranet
Mémoire de Projet de Fin d’Etudes:Automatique: Alger, Ecole Nationale Polytechnique : 2025
Bibliogr. p. 96-99 . - Annexe p.100-101 Langues : Anglais ( eng)
| Mots-clés : |
Delta Robot
Trajectory Tracking
Fractional Calculus
Direct and Indirect Adap-tive Control
Backstepping Method
Model Reference Adaptive Control |
| Index. décimale : |
PA00525 |
| Résumé : |
Parallel robots, such as the Delta robot, are increasingly used in demanding industrial applica-
tions due to their exceptional performance in terms of speed, precision, and payload capacity.
One of the main challenges in their use lies in the optimal management of their control to
ensure enhanced stability and accuracy in the face of disturbances and system uncertainties.
This thesis proposes an innovative approach using fractional-order control to improve the adap-
tive control of this type of robot. Nonlinear fractional-order control techniques allow for finer
regulation and better system responsiveness, while ensuring reinforced stability. Experimental
results validate this approach, showing that it offers superior performance compared to tradi-
tional methods. This work highlights the importance of evolving control strategies to meet the
current challenges of robotic systems in modern industrial environments. |
|
PA00100 
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