Two-Dimensional Fractional Order Iterative Learning Control for Repetitive Processes
The convergence and robustness rejecting parameters variations and external disturbance of the system are crucial for repetitive processes. In this paper, a two-dimensional robust fractional-order iterative learning control (FOILC) is proposed for the repetitive motion process to enhance the converg...
| Egile Nagusiak: | , |
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| Formatua: | Artikulua |
| Hizkuntza: | English |
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MDPI AG
2023-08-01
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| Saila: | Fractal and Fractional |
| Gaiak: | |
| Sarrera elektronikoa: | https://www.mdpi.com/2504-3110/7/8/624 |
| _version_ | 1827729716141883392 |
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| author | Bitao Zhang Haobo Luo |
| author_facet | Bitao Zhang Haobo Luo |
| author_sort | Bitao Zhang |
| collection | DOAJ |
| description | The convergence and robustness rejecting parameters variations and external disturbance of the system are crucial for repetitive processes. In this paper, a two-dimensional robust fractional-order iterative learning control (FOILC) is proposed for the repetitive motion process to enhance the convergence and robustness. A fractional-order proportional derivative function (FOPDF) is designed as the control variable to replace the tracking error of the integer-order iterative learning control (IOILC) algorithm. The required dynamic output fractional-order iterative learning controller is constructed by solving a set of linear matrix inequalities (LMI), and the control parameters are adjusted according to the given specifications. Simulation and experimental results in robot torque control are given to prove the effectiveness and feasibility of the proposed design method. |
| first_indexed | 2024-03-10T23:55:26Z |
| format | Article |
| id | doaj.art-88cd45da0c2c4f1b9dfbf33b40b46df3 |
| institution | Directory Open Access Journal |
| issn | 2504-3110 |
| language | English |
| last_indexed | 2024-03-10T23:55:26Z |
| publishDate | 2023-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Fractal and Fractional |
| spelling | doaj.art-88cd45da0c2c4f1b9dfbf33b40b46df32023-11-19T01:11:46ZengMDPI AGFractal and Fractional2504-31102023-08-017862410.3390/fractalfract7080624Two-Dimensional Fractional Order Iterative Learning Control for Repetitive ProcessesBitao Zhang0Haobo Luo1School of Automation, Guangdong Polytechnic Normal University, Guangzhou 510640, ChinaSchool of Automation, Guangdong Polytechnic Normal University, Guangzhou 510640, ChinaThe convergence and robustness rejecting parameters variations and external disturbance of the system are crucial for repetitive processes. In this paper, a two-dimensional robust fractional-order iterative learning control (FOILC) is proposed for the repetitive motion process to enhance the convergence and robustness. A fractional-order proportional derivative function (FOPDF) is designed as the control variable to replace the tracking error of the integer-order iterative learning control (IOILC) algorithm. The required dynamic output fractional-order iterative learning controller is constructed by solving a set of linear matrix inequalities (LMI), and the control parameters are adjusted according to the given specifications. Simulation and experimental results in robot torque control are given to prove the effectiveness and feasibility of the proposed design method.https://www.mdpi.com/2504-3110/7/8/624repetitive processtwo-dimensional systemiterative learning controllinear matrix inequalitiesfractional calculus |
| spellingShingle | Bitao Zhang Haobo Luo Two-Dimensional Fractional Order Iterative Learning Control for Repetitive Processes Fractal and Fractional repetitive process two-dimensional system iterative learning control linear matrix inequalities fractional calculus |
| title | Two-Dimensional Fractional Order Iterative Learning Control for Repetitive Processes |
| title_full | Two-Dimensional Fractional Order Iterative Learning Control for Repetitive Processes |
| title_fullStr | Two-Dimensional Fractional Order Iterative Learning Control for Repetitive Processes |
| title_full_unstemmed | Two-Dimensional Fractional Order Iterative Learning Control for Repetitive Processes |
| title_short | Two-Dimensional Fractional Order Iterative Learning Control for Repetitive Processes |
| title_sort | two dimensional fractional order iterative learning control for repetitive processes |
| topic | repetitive process two-dimensional system iterative learning control linear matrix inequalities fractional calculus |
| url | https://www.mdpi.com/2504-3110/7/8/624 |
| work_keys_str_mv | AT bitaozhang twodimensionalfractionalorderiterativelearningcontrolforrepetitiveprocesses AT haoboluo twodimensionalfractionalorderiterativelearningcontrolforrepetitiveprocesses |