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Commensurate and Non-Commensurate Fractional-Order Discrete Models of an Electric Individual-Wheel Drive on an
Marcin Bąkała1, Piotr Duch1, J A Tenreiro Machado2
1Institute of Applied Computer Science, ódź University of Technology, ul. Stefanowskiego 18/22, 90-537 Lodz, Poland.
Abstract:
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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