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

Iman Ghasemi; Abolfazl Ranjbar Noei; Jalil Sadati

doi:10.31436/iiumej.v18i1.563

Authors

Iman Ghasemi Department of Electerical and Computer Engineering, Babol University of Thechnology, Babol
Abolfazl Ranjbar Noei Associate Professor, Faculty of Electrical and Computer Engineering, Babol Noshirvani University of Technology, Babol
Jalil Sadati Assistant Professor, Faculty of Electrical and Computer Engineering department, Babol Noshirvani University of Technology, Babol, Iran

DOI:

https://doi.org/10.31436/iiumej.v18i1.563

Abstract

In this paper, iterative learning control (ILC) is combined with an optimal fractional order derivative (BBO-D^a-type ILC) and optimal fractional and proportional-derivative (BBO-PD^a-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 's^a' where Â to update iterative learning control law. Two types of fractional order iterative learning control namely PD^a-type ILC and D^a-type ILC are gained for different value of a. In order to improve the performance of closed-loop control system, coefficients of both Â and Â learning law i.e. proportional , derivative Â and Â 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-D^a-type ILC and BBO-PD^a-type ILC

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Author Biographies

Iman Ghasemi, Department of Electerical and Computer Engineering, Babol University of Thechnology, Babol

Â Iman ghasemi received his B.Sc. degree in Power Electrical Engineering from the Faculty of Electrical and Computer Engineering, University of Fakhruddin As'ad Gurgani, Gurgan, Iran, in 2011. He is pursuing his M.Sc. in Control Engineering at the Babol University of Technology, Babol, Iran. His Major interests are Fractional order Control, Optimal Control, Nonlinear control, Adaptive Control and Artificial Intelligent Systems.

Abolfazl Ranjbar Noei, Associate Professor, Faculty of Electrical and Computer Engineering, Babol Noshirvani University of Technology, Babol

Abolfazl Ranjbar N. was born in Gorgan, Iran on 21st of Mar. 1964. He received B. Sc. in 1988 from Isfahan Univ. of Technology, IRAN, M. Sc. in 1992 from Tarbiat Modaress Univ., IRAN and Ph. D. in 2000 from Surrey Univ. UK all in Control Eng. Currently he is an associate prof. at Control Eng. Dept. of Babol Univ. of Tech., Babol, Iran. His research interests are Machine Control, Nonlinear and Chaos systems, Robust and Adaptive Control and Fractional Calculus.

Jalil Sadati, Assistant Professor, Faculty of Electrical and Computer Engineering department, Babol Noshirvani University of Technology, Babol, Iran

Jalil Sadati was born in Mazandaran, Iran, He received the B.Sc. degree in Control Engineering in 2002 from K.N. Toosi University of Technology, Tehran, Iran and M.Sc. in Control Engineering at Ferdowsi University of Mashhad in 2005 and PhD degree in control engineering from Mazandaran University in 2011, Iran. His research interests are Fractional Order Control, Nonlinear Control, and Artificial Intelligence.