OPTIMAL FRACTIONAL ORDER ITERATIVE LEARNING CONTROL FOR SINGLE-LINK ROBOT CONTROL

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GHASEMI IMAN; RANJBAR NOEI ABOLFAZL; SADATI ROSTAMI SAYED JALIL

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Journal: Modares Mechanical Engineering Year:2016 | Volume:15 | Issue:10 Page(s): 259-268

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Title

OPTIMAL FRACTIONAL ORDER ITERATIVE LEARNING CONTROL FOR SINGLE-LINK ROBOT CONTROL

Author(s)

GHASEMI IMAN | RANJBAR NOEI ABOLFAZL | SADATI ROSTAMI SAYED JALIL | Issue Writer Certificate

Keywords

ITERATIVE LEARNING CONTROL SYSTEMSQ2

UPDATING LAW OF ITERATIVE LEARNING CONTROLQ2

FRACTIONAL ORDER OF TYPE Dα AND PDαQ2

SINGLE-LINK ROBOT ARMQ2

BIOGEOGRAPHY-BASED OPTIMIZATION (BBO)Q2

Abstract

In this paper, a new type of ITERATIVE LEARNING CONTROL SYSTEMS with fractional order known as iterative learning control with fractional order derivative and iterative learning control with fractional proportional–derivative for linearized systems of SINGLE-LINK ROBOT ARM is introduced. First order derivative of classic Arimoto is used for tracking error in updating law of derivative iterative learning control. The suggested method in this paper implements tracking error for updating control law of iterative learning of fractional order. For the first time, nonlinear robot system is linearized by input feedback linearization. Then, convergence analysis of iterative learning control law of type PDa is studied. In the next step, we define criteria for parameters optimization of proposed controller by using Biogeography-based optimization algorithm. Both updating laws of fractional order iterative learning control (Da-type ILC and PDa-type ILC) are applied on linearized robot arm and performance of both controllers for different value of a is presented. For improving the performance of closed loop system, coefficient of fractional order iterative learning control (proportional kp and derivative kD coefficients and a) is optimized by BBO algorithm. Proposed iterative learning control is compared with common type of system.

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APA: Copy

GHASEMI, IMAN, RANJBAR NOEI, ABOLFAZL, & SADATI ROSTAMI, SAYED JALIL. (2016). OPTIMAL FRACTIONAL ORDER ITERATIVE LEARNING CONTROL FOR SINGLE-LINK ROBOT CONTROL. MODARES MECHANICAL ENGINEERING, 15(10), 259-268. SID. https://sid.ir/paper/179650/en

Vancouver: Copy

GHASEMI IMAN, RANJBAR NOEI ABOLFAZL, SADATI ROSTAMI SAYED JALIL. OPTIMAL FRACTIONAL ORDER ITERATIVE LEARNING CONTROL FOR SINGLE-LINK ROBOT CONTROL. MODARES MECHANICAL ENGINEERING[Internet]. 2016;15(10):259-268. Available from: https://sid.ir/paper/179650/en

IEEE: Copy

IMAN GHASEMI, ABOLFAZL RANJBAR NOEI, and SAYED JALIL SADATI ROSTAMI, “OPTIMAL FRACTIONAL ORDER ITERATIVE LEARNING CONTROL FOR SINGLE-LINK ROBOT CONTROL,” MODARES MECHANICAL ENGINEERING, vol. 15, no. 10, pp. 259–268, 2016, [Online]. Available: https://sid.ir/paper/179650/en

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