Fractional-order Iterative Learning Control for Singular Fractional-order System: (P)-PD^a Type 

 

Mihailo Lazarević

Nikola Đurović

Boško Cvetković

Petar Mandić

Ljubiša Bučanović

 

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.

Key words: control theory, iterative control, learning control, fractional order, singular system, method convergence, robotic system.