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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Military Technical Institute, Belgrade
2016-01-01
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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 |
work_keys_str_mv |
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1724569834125000704 |