Fractional-order iterative learning control for singular fractional- order system: (P) - PDa type

Iterative learning control (ILC) is one of the recent topics in control theories and it is suitable for controlling a wider class of mechatronic systems - it is especially suitable for the motion control of robotic systems. This paper addresses the problem of application of fractional order ILC for...

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Main Authors: Lazarević Mihailo, Đurović Nikola, Cvetković Boško, Mandić Petar, Bučanović Ljubiša
Format: Article
Language:English
Published: Military Technical Institute, Belgrade 2016-01-01
Series:Scientific Technical Review
Subjects:
Online Access:https://scindeks-clanci.ceon.rs/data/pdf/1820-0206/2016/1820-02061603040L.pdf
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spelling doaj-2d6687cd729c4aa484a884187eb88aac2020-11-25T03:32:05ZengMilitary Technical Institute, BelgradeScientific Technical Review1820-02062683-57702016-01-0166340491820-02061603040LFractional-order iterative learning control for singular fractional- order system: (P) - PDa typeLazarević Mihailo0https://orcid.org/0000-0002-3326-6636Đurović Nikola1Cvetković Boško2Mandić Petar3https://orcid.org/0000-0001-7004-2087Bučanović Ljubiša4University of Belgrade, Faculty of Mechanical Engineering, Department of Mechanics, BelgradeUniversity of Belgrade, Faculty of Mechanical Engineering, Department of Mechanics, BelgradeUniversity of Belgrade, Faculty of Mechanical Engineering, Department of Mechanics, BelgradeUniversity of Belgrade, Faculty of Mechanical Engineering, Department of Mechanics, BelgradeMesser Tehnogas AD, BelgradeIterative learning control (ILC) is one of the recent topics in control theories and it is suitable for controlling a wider class of mechatronic systems - it is especially suitable for the motion control of robotic systems. This paper addresses the problem of application of fractional order ILC for fractional order singular system. Particularly, we study fractional order singular systems in the pseudo-state space. An closed-loop fractional order PDalpha type ILC of the fractional-order singular system is investigated. Also, open-closed loop of the fractional order P-PDa type ILC is considered. Sufficient conditions for the convergence in the time domain of the proposed ILC schemes are given by the corresponding theorems and proved. Finally, numerical simulations show the feasibility and effectiveness of the proposed approach.https://scindeks-clanci.ceon.rs/data/pdf/1820-0206/2016/1820-02061603040L.pdfcontrol theoryiterative controllearning controlfractional ordersingular systemmethod convergencerobotic system
collection DOAJ
language English
format Article
sources DOAJ
author Lazarević Mihailo
Đurović Nikola
Cvetković Boško
Mandić Petar
Bučanović Ljubiša
spellingShingle Lazarević Mihailo
Đurović Nikola
Cvetković Boško
Mandić Petar
Bučanović Ljubiša
Fractional-order iterative learning control for singular fractional- order system: (P) - PDa type
Scientific Technical Review
control theory
iterative control
learning control
fractional order
singular system
method convergence
robotic system
author_facet Lazarević Mihailo
Đurović Nikola
Cvetković Boško
Mandić Petar
Bučanović Ljubiša
author_sort Lazarević Mihailo
title Fractional-order iterative learning control for singular fractional- order system: (P) - PDa type
title_short Fractional-order iterative learning control for singular fractional- order system: (P) - PDa type
title_full Fractional-order iterative learning control for singular fractional- order system: (P) - PDa type
title_fullStr Fractional-order iterative learning control for singular fractional- order system: (P) - PDa type
title_full_unstemmed Fractional-order iterative learning control for singular fractional- order system: (P) - PDa type
title_sort fractional-order iterative learning control for singular fractional- order system: (p) - pda type
publisher Military Technical Institute, Belgrade
series Scientific Technical Review
issn 1820-0206
2683-5770
publishDate 2016-01-01
description Iterative learning control (ILC) is one of the recent topics in control theories and it is suitable for controlling a wider class of mechatronic systems - it is especially suitable for the motion control of robotic systems. This paper addresses the problem of application of fractional order ILC for fractional order singular system. Particularly, we study fractional order singular systems in the pseudo-state space. An closed-loop fractional order PDalpha type ILC of the fractional-order singular system is investigated. Also, open-closed loop of the fractional order P-PDa type ILC is considered. Sufficient conditions for the convergence in the time domain of the proposed ILC schemes are given by the corresponding theorems and proved. Finally, numerical simulations show the feasibility and effectiveness of the proposed approach.
topic control theory
iterative control
learning control
fractional order
singular system
method convergence
robotic system
url https://scindeks-clanci.ceon.rs/data/pdf/1820-0206/2016/1820-02061603040L.pdf
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