Representation of robotic fractional dynamics in the pseudo phase plane
Miguel F.M.Lima1,2,J.A. TenreiroMachado3,4
1. School of Technology of Viseu, Dept. of Electrical Engineering, Campus Politecnico de 2. School of Technology of Viseu, Dept. of Electrical Engineering, Campus Politécnico de Repeses, 3504-510 Viseu, Portugal 3. Institute of Engineering of Porto, Dept. of Electrical Engineering, Rua Dr. Antonio Bernardino de Almeida, 431, 4200-072 Porto, Portugal 4. Institute of Engineering of Porto, Dept. of Electrical Engineering, Rua Dr. António Bernardino de Almeida, 431, 4200-072 Porto, Portugal
Abstract This paper analyses robotic signals in the perspective of fractional
dynamics and the pseudo phase plane (PPP). It is shown that the
spectra of several experimental signals can be approximated by
trend lines whose slope characterizes their fractional behavior.
For the PPP reconstruction of each signal, the time lags are
calculated through the fractal dimension. Moreover, to obtain a
smooth PPP, the noisy signals are filtered through wavelets. The
behavior of the spectra reveals a relationship with the fractal
dimension of the PPP and the corresponding time delay.
Corresponding Authors:
Miguel F.M.Lima
E-mail: lima@ipv.pt
Cite this article:
MIGUEL F.M.-Lima,J.A. Tenreiro-Machado. Representation of robotic fractional dynamics in the pseudo phase plane[J]. Acta Mechanica Sinica, 2011, 27(1): 28-35.
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