Title :
On Dα-type iterative learning control
Author :
Chen, YangQuan ; Moore, Kevin L.
Author_Institution :
Dept. of Electr. & Comput. Eng., Utah State Univ., Logan, UT, USA
Abstract :
The classical Arimoto D-type iterative learning control (ILC) updating law uses the first order derivative (with transfer function s) of tracking error. By using the fractional order derivative, it is proposed to use a fractional order ILC updating law where the fractional order derivative (with transfer function sα, α ∈ (0, 1]) of tracking error is employed. The basic idea is explained in some detail together with a frequency domain design method. For implementation, a direct discretization technique is introduced. An example is given to show the benefits of the Dα-type ILC. Several remarks on future research topics are briefly discussed in the final section
Keywords :
control system synthesis; convergence; differential equations; feedback; frequency-domain synthesis; learning systems; transfer functions; Dα-type iterative learning control; Tustin operator; classical Arimoto D-type iterative learning control; continued fraction expansion; direct discretization technique; fractional order derivative; fractional order updating law; frequency domain design method; recursive expansion; tracking error; transfer function; Control systems; Convergence; Error correction; Fractional calculus; Frequency domain analysis; Manipulators; Robots; Signal design; Three-term control; Trajectory;
Conference_Titel :
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-7061-9
DOI :
10.1109/.2001.980903
