Integration of Divide-and-Conquer Algorithm with Fractional Order Controllers for the Efficient Dynamic Modeling and Control of Multibody Systems

This paper presents a novel computationally efficient framework for the modeling and control of fully-actuated multibody systems. In this scheme, fractional-order computed-torque control laws are integrated with the generalized divide and conquer algorithm. The proposed framework has superior features such as high performance in modeling and controlling, an easy implementation, a stable convergence characteristic, and a significantly improved computational efficiency. To validate and show the advantages of the presented technique, it is applied to the trajectory tracking of a triple pendulum, and the results are compared to the ones given by the linear-quadratic regulator computed-torque control law.