This paper presents the fractional order modeling of an under-actuated mechanical system. The under-actuated system taken in this paper is an overhead crane that has two degrees of freedom and one control input. The modeling equation is derived with the help of Euler-Lagrange equation. The proposed mathematical model is helpful in understanding the under-actuated mechanical system’s fractional characteristics.
Srivastava, Trisha; Pal Singh, Abhaya; and Agarwal, Himanshu
"Modeling the Under-Actuated Mechanical System with Fractional Order Derivative,"
Progress in Fractional Differentiation & Applications: Vol. 1
, Article 6.
Available at: https://dc.naturalspublishing.com/pfda/vol1/iss1/6