Fractional Order Periodic Adaptive Learning Compensation for State-Dependent Periodic Disturbance

Author

Luo, Ying ; Chen, Yang Quan ; Ahn, Hyo-Sung ; Pi, You Guo

Author_Institution

Dept. of Autom. Sci. & Eng., South China Univ. of Technol., Guangzhou, China

Volume

20

Issue

2

fYear

2012

fDate

3/1/2012 12:00:00 AM

Firstpage

465

Lastpage

472

Abstract

In this brief, a fractional order periodic adaptive learning compensation (FO-PALC) method is devised for the general state-dependent periodic disturbance minimization on the position and velocity servo platform. In the first trajectory period of the proposed FO-PALC scheme, a fractional order adaptive compensator is designed which can guarantee the boundedness of the system state, input and output signals. From the second repetitive trajectory period and onward, one period previously stored information along the state axis is used in the current adaptation law. Asymptotical stability proof of the system with the proposed FO-PALC is presented. Experimental validation is demonstrated to show the benefits from using fractional calculus in periodic adaptive learning compensation for the state-dependent periodic disturbance.

Keywords

adaptive control; asymptotic stability; position control; velocity control; FO-PALC scheme; adaptation law; asymptotical stability; fractional calculus; fractional order periodic adaptive learning compensation method; general state-dependent periodic disturbance minimization; position servo platform; trajectory period; velocity servo platform; Adaptive systems; Asymptotic stability; Friction; Real time systems; Servomotors; Stability analysis; Trajectory; Fractional calculus; fractional order control; periodic adaptive learning compensation (PALC); state-dependent periodic disturbance (SDPD);

fLanguage

English

Journal_Title

Control Systems Technology, IEEE Transactions on

Publisher

ieee

ISSN

1063-6536

Type

jour

DOI

10.1109/TCST.2011.2117426

Filename

5738702