Neki novi rezultati iterativnog upravljanja učenjem necelog reda
Nekotorye novye rezul'taty iterativnogo upravlenija obučeniem drobnogo porjadka / (francuski) Quelques nouveaux résultats du contrôle itératif par l'étude de l'ordre fractionnel
dc.creator | Lazarević, Mihailo | |
dc.date.accessioned | 2022-09-19T17:20:56Z | |
dc.date.available | 2022-09-19T17:20:56Z | |
dc.date.issued | 2014 | |
dc.identifier.issn | 1820-0206 | |
dc.identifier.uri | https://machinery.mas.bg.ac.rs/handle/123456789/1840 | |
dc.description.abstract | Iterativno upravljanje putem učenja (ILC) predstavlja jedno od važnih oblasti u teoriji upravljanja i ono je moćan koncept upravljanja koji na iterativan način poboljšava ponašanje procesa koji su po prirodi ponovljivi. ILC je pogodno za upravljanje šire klase mehatroničkih sistema i posebno su pogodni za upravljanje na primer kretanja robotskih sistema koji imaju važnu ulogu u tehničkim sistemima koji uključuju sisteme upravljanja, primenu u vojnoj industriji itd. Ovaj se rad bavi problemom ILC upravljanja za nelinearne sisteme necelog reda sa vremenskim kašnjenjem. Posebno, ovde se proučavaju sistemi necelog reda sa nepoznatim ograničenim vremenskim kašnjenjem u prostoru stanja kao i slučaj vremenski promenljivog kašnjenja. Pri tome, dovoljni uslovi za konvergenciju u vremenskom domenu predloženog PDα ILC upravljanja za datu klasu necelog reda sistema sa kašnjenjem su prezentovani i dati u vremenskom domenu.Takođe, robusno PDα ILC upravljanje u direktnoj-povratnoj sprezi za dati sistem sa kašnjenjem je razmatrano.Posebno, razmatra se sistem necelog reda sa nepoznatim ali ograničenim konstantnim vremenskim kašnjenjem. Dovoljni uslovi za konvergenciju u vremenskom domenu predloženog PDα ILC upravljanja su dati odgovarajućom teoremom sa pratećim dokazom. Konačno, simulacioni primer pokazuje izvodljivost i efikasnost predloženog pristupa. | sr |
dc.description.abstract | Iterative learning control (ILC) is one of the recent topics in control theories and it is a powerful control concept that iteratively improves the behavior of processes repetitive in their nature. ILC is suitable for controlling a wider class of mechatronic systems - it is especially suitable for the motion control of robotic systems that attract and hold an important position in technical systems involving control applications, military industry, etc. This paper addresses the problem of iterative learning control (ILC) for fractional nonlinear time delay systems. Particularly, we study fractional order time delay systems in the state space form with unknown bounded constant time delay as well as time-varying delay. Sufficient conditions for the convergence of a proposed PDα type of a learning control algorithm for a class of fractional state space time delay systems are presented in the time domain. Also, a feedback-feed forward PDα type robust iterative learning control (ILC) of the given fractional order uncertain time delay system is considered. We consider fractional order time delay systems in the state space form with uncertain bounded constant time delay in particular. Sufficient conditions for the convergence in the time domain of the proposed PDα ILC are given by the corresponding theorem together with its proof. Finally, a simulation example shows the feasibility and effectiveness of the proposed approach. | en |
dc.publisher | Vojnotehnički institut, Beograd | |
dc.relation | info:eu-repo/grantAgreement/MESTD/Technological Development (TD or TR)/35006/RS// | |
dc.relation | info:eu-repo/grantAgreement/MESTD/Integrated and Interdisciplinary Research (IIR or III)/41006/RS// | |
dc.rights | openAccess | |
dc.rights.uri | https://creativecommons.org/licenses/by/4.0/ | |
dc.source | Scientific Technical Review | |
dc.subject | vremensko kašnjenje | sr |
dc.subject | upravljanje učenjem | sr |
dc.subject | teorija upravljanja | sr |
dc.subject | robotski sistem | sr |
dc.subject | nelinearni sistem | sr |
dc.subject | necelobrojni red | sr |
dc.subject | iterativno upravljanje | sr |
dc.subject | time delay | en |
dc.subject | theory of control | en |
dc.subject | robotic system | en |
dc.subject | nonlinear system | en |
dc.subject | learning control | en |
dc.subject | iterative control | en |
dc.subject | fractional order | en |
dc.title | Neki novi rezultati iterativnog upravljanja učenjem necelog reda | sr |
dc.title | Nekotorye novye rezul'taty iterativnogo upravlenija obučeniem drobnogo porjadka / (francuski) Quelques nouveaux résultats du contrôle itératif par l'étude de l'ordre fractionnel | RUS |
dc.title | Some new results on iterative learning control of noninteger order | en |
dc.type | article | |
dc.rights.license | BY | |
dc.citation.epage | 41 | |
dc.citation.issue | 2 | |
dc.citation.other | 64(2): 33-41 | |
dc.citation.rank | M51 | |
dc.citation.spage | 33 | |
dc.citation.volume | 64 | |
dc.identifier.fulltext | http://machinery.mas.bg.ac.rs/bitstream/id/655/1837.pdf | |
dc.identifier.rcub | https://hdl.handle.net/21.15107/rcub_machinery_1840 | |
dc.type.version | publishedVersion |