scholarly journals Design and Analysis of Fractional Order PD α -Type Iterative Learning Control

2017 ◽  
Vol 50 (1) ◽  
pp. 8077-8083 ◽  
Author(s):  
Yang Zhao ◽  
Fengyu Zhou ◽  
Da Wang ◽  
Yan Li
Keyword(s):  
Fractional Order ◽  
Iterative Learning Control ◽  
Learning Control ◽  
Iterative Learning

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

2016 ◽  
Vol 66 (3) ◽  
pp. 40-49 ◽  
Author(s):  
Mihailo Lazarevic ◽  
Nikola Djurovic ◽  
Bosko Cvetkovic ◽  
Petar Mandic ◽  
Ljubisa Bucanovic
Keyword(s):  
Fractional Order ◽  
Iterative Learning Control ◽  
Learning Control ◽  
Iterative Learning ◽  
Fractional Order System ◽  
Order System ◽  
System P

scholarly journals Fractional-order iterative learning control for robotic Arm-PD2Dα type

Filomat ◽  
2021 ◽  
Vol 35 (1) ◽  
pp. 1-10
Author(s):  
Bosko Cvetkovic ◽  
Mihailo Lazarevic
Keyword(s):  
Fractional Order ◽  
Iterative Learning Control ◽  
Tracking Error ◽  
Sufficient Conditions ◽  
Learning Control ◽  
Joint Space ◽  
Open Loop ◽  
Iterative Learning ◽  
Robotic Arm ◽  
Trajectory Tracking Control

In this paper, a new open-loop PD2D? type a fractional order iterative learning control (ILC) is studied for joint space trajectory tracking control of a linearized uncertain robotic arm. The robust convergent analysis of the tracking errors has been done in time domain where it is theoretically proven that the boundednesses of the tracking error are guaranteed in the presence of model uncertainty. The convergence of the proposed open-loop ILC law is proven mathematically using Gronwall integral inequality for a linearized robotic system and sufficient conditions for convergence and robustness are obtained.

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