Robotics and Fractional Calculus

Description

Fractional calculus generalizes traditional calculus by extending derivatives and integrals to non-integer orders, whether real or complex. Classical derivatives describe local properties —instantaneous changes— whereas fractional operators are nonlocal and can incorporate the memory or history of a dynamic system. This makes it possible to model phenomena such as anomalous diffusion and viscoelasticity.

This workshop will introduce fractional calculus, the formulation of differential equations with these operators, and their numerical implementation through iterative methods that can be programmed in MATLAB.

We will review the short-memory principle and its usefulness for optimizing computational resources. The workshop will conclude with examples involving chaotic systems and robot control.

Instructor

Oscar Martínez Fuentes, Ph.D.

INAOE · Universidad Iberoamericana Puebla

Photo: INAOE · CC BY-NC-ND 2.5 MX