INTELLIGENT FRACTIONAL ORDER ITERATIVE LEARNING CONTROL USING FEEDBACK LINEARIZATION FOR A SINGLE-LINK ROBOT

Iman Ghasemi, Abolfazl Ranjbar Noei, Jalil Sadati

Abstract


In this paper, iterative learning control (ILC) is combined with an optimal fractional order derivative (BBO-Da-type ILC) and optimal fractional and proportional-derivative (BBO-PDa-type ILC). In the update law of Arimoto's derivative iterative learning control, a first order derivative of tracking error signal is used. In the proposed method, fractional order derivative of the error signal is stated in term of 'sa' where  to update iterative learning control law. Two types of fractional order iterative learning control namely PDa-type ILC and Da-type ILC are gained for different value of a. In order to improve the performance of closed-loop control system, coefficients of both  and  learning law i.e. proportional , derivative  and  are optimized using Biogeography-Based optimization algorithm (BBO). Outcome of the simulation results are compared with those of the conventional fractional order iterative learning control to verify effectiveness of BBO-Da-type ILC and BBO-PDa-type ILC

Full Text:

PDF


ISSN:    1511-788X
E-ISSN: 2289-7860


Creative Commons License
IIUM Engineering Journal by http://journals.iium.edu.my/ejournal/index.php/iiumej/index is licensed under a Creative Commons Attribution 4.0 International License