Commensurate and Non-Commensurate Fractional-Order Discrete Models of an Electric Individual-Wheel Drive on an Autonomous Platform

This paper presents integer and linear time-invariant fractional order (FO) models of a closed-loop electric individual-wheel drive implemented on an autonomous platform. Two discrete-time FO models are tested: non-commensurate and commensurate. A classical model described by the second-order linear...

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Autores principales: Bąkała, Marcin, Duch, Piotr, Tenreiro Machado, J. A., Ostalczyk, Piotr, Sankowski, Dominik
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2020
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7516756/
https://www.ncbi.nlm.nih.gov/pubmed/33286074
http://dx.doi.org/10.3390/e22030300
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author Bąkała, Marcin
Duch, Piotr
Tenreiro Machado, J. A.
Ostalczyk, Piotr
Sankowski, Dominik
author_facet Bąkała, Marcin
Duch, Piotr
Tenreiro Machado, J. A.
Ostalczyk, Piotr
Sankowski, Dominik
author_sort Bąkała, Marcin
collection PubMed
description This paper presents integer and linear time-invariant fractional order (FO) models of a closed-loop electric individual-wheel drive implemented on an autonomous platform. Two discrete-time FO models are tested: non-commensurate and commensurate. A classical model described by the second-order linear difference equation is used as the reference. According to the sum of the squared error criterion (SSE), we compare a two-parameter integer order model with four-parameter non-commensurate and three-parameter commensurate FO descriptions. The computer simulation results are compared with the measured velocity of a real autonomous platform powered by a closed-loop electric individual-wheel drive.
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spelling pubmed-75167562020-11-09 Commensurate and Non-Commensurate Fractional-Order Discrete Models of an Electric Individual-Wheel Drive on an Autonomous Platform Bąkała, Marcin Duch, Piotr Tenreiro Machado, J. A. Ostalczyk, Piotr Sankowski, Dominik Entropy (Basel) Article This paper presents integer and linear time-invariant fractional order (FO) models of a closed-loop electric individual-wheel drive implemented on an autonomous platform. Two discrete-time FO models are tested: non-commensurate and commensurate. A classical model described by the second-order linear difference equation is used as the reference. According to the sum of the squared error criterion (SSE), we compare a two-parameter integer order model with four-parameter non-commensurate and three-parameter commensurate FO descriptions. The computer simulation results are compared with the measured velocity of a real autonomous platform powered by a closed-loop electric individual-wheel drive. MDPI 2020-03-05 /pmc/articles/PMC7516756/ /pubmed/33286074 http://dx.doi.org/10.3390/e22030300 Text en © 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Bąkała, Marcin
Duch, Piotr
Tenreiro Machado, J. A.
Ostalczyk, Piotr
Sankowski, Dominik
Commensurate and Non-Commensurate Fractional-Order Discrete Models of an Electric Individual-Wheel Drive on an Autonomous Platform
title Commensurate and Non-Commensurate Fractional-Order Discrete Models of an Electric Individual-Wheel Drive on an Autonomous Platform
title_full Commensurate and Non-Commensurate Fractional-Order Discrete Models of an Electric Individual-Wheel Drive on an Autonomous Platform
title_fullStr Commensurate and Non-Commensurate Fractional-Order Discrete Models of an Electric Individual-Wheel Drive on an Autonomous Platform
title_full_unstemmed Commensurate and Non-Commensurate Fractional-Order Discrete Models of an Electric Individual-Wheel Drive on an Autonomous Platform
title_short Commensurate and Non-Commensurate Fractional-Order Discrete Models of an Electric Individual-Wheel Drive on an Autonomous Platform
title_sort commensurate and non-commensurate fractional-order discrete models of an electric individual-wheel drive on an autonomous platform
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7516756/
https://www.ncbi.nlm.nih.gov/pubmed/33286074
http://dx.doi.org/10.3390/e22030300
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