| Autor: |
Marcin Bąkała, Piotr Duch, J. A. Tenreiro Machado, Piotr Ostalczyk, Dominik Sankowski |
| Jazyk: |
angličtina |
| Rok vydání: |
2020 |
| Předmět: |
|
| Zdroj: |
Entropy, Vol 22, Iss 3, p 300 (2020) |
| Druh dokumentu: |
article |
| ISSN: |
1099-4300 |
| DOI: |
10.3390/e22030300 |
| Popis: |
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. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
|
