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Iterativno upravljanje učenjem necelog reda za singularni sistem necelog red - (P)-PDa tip
Iteracionnoe upravlenie obučeniem drobnogo porjadka dlja osoboj singuljarnoj sistemy drobnogo porjadka: (P)-PDα tip / (francuski) Contrôle itératif par l'étude de l'ordre fractionnel pour le système singulier de l'ordre fractionnel: (P)-PDa type
dc.creator | Lazarević, Mihailo | |
dc.creator | Đurović, Nikola | |
dc.creator | Cvetković, Boško | |
dc.creator | Mandić, Petar | |
dc.creator | Bučanović, Ljubiša | |
dc.date.accessioned | 2022-09-19T17:50:31Z | |
dc.date.available | 2022-09-19T17:50:31Z | |
dc.date.issued | 2016 | |
dc.identifier.issn | 1820-0206 | |
dc.identifier.uri | https://machinery.mas.bg.ac.rs/handle/123456789/2276 | |
dc.description.abstract | Iterativno upravljanje putem učenja (ILC) predstavlja jedno od važnih oblasti u teoriji upravljanja i pogodno je za upravljanje šire klase mehatroničkih sistema, a posebno su pogodni za upravljanje kretanjem robotskih sistema. Ovaj se rad bavi problemom primene frakcionog reda ILC upravljanja za singularne sisteme frakcionog reda. Posebno, ovde se proučavaju singularni sistemi necelog reda u prostoru pseduo-stanja. U povratnoj sprezi frakcionog reda PDa tip ILC upravljanje za singularni sistem frakcionog reda je istraživano. Takođe, frakcionog reda P-PDa tip ILC upravljanje u direktnoj-povratnoj sprezi je razmatrano. Dovoljni uslovi za konvergenciju u vremenskom domenu predloženih šema ILC upravljanja su data odgovarajućim teoremama i koja su dokazana. Konačno, numeričke simualcije na 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 suitable for controlling a wider class of mechatronic systems - it is especially suitable for the motion control of robotic systems. This paper addresses the problem of application of fractional order ILC for fractional order singular system. Particularly, we study fractional order singular systems in the pseudo-state space. An closed-loop fractional order PDalpha type ILC of the fractional-order singular system is investigated. Also, open-closed loop of the fractional order P-PDa type ILC is considered. Sufficient conditions for the convergence in the time domain of the proposed ILC schemes are given by the corresponding theorems and proved. Finally, numerical simulations show 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/Technological Development (TD or TR)/33047/RS// | |
dc.relation | Serbia-China bilateral project br. 3-12 | |
dc.rights | openAccess | |
dc.rights.uri | https://creativecommons.org/licenses/by/4.0/ | |
dc.source | Scientific Technical Review | |
dc.subject | upravljanje učenjem | sr |
dc.subject | teorija upravljanja | sr |
dc.subject | singularni sistem | sr |
dc.subject | robotski sistem | sr |
dc.subject | necelobrojni red | sr |
dc.subject | konvergencija metode | sr |
dc.subject | iterativno upravljanje | sr |
dc.subject | singular system | en |
dc.subject | robotic system | en |
dc.subject | method convergence | en |
dc.subject | learning control | en |
dc.subject | iterative control | en |
dc.subject | fractional order | en |
dc.subject | control theory | en |
dc.title | Iterativno upravljanje učenjem necelog reda za singularni sistem necelog red - (P)-PDa tip | sr |
dc.title | Iteracionnoe upravlenie obučeniem drobnogo porjadka dlja osoboj singuljarnoj sistemy drobnogo porjadka: (P)-PDα tip / (francuski) Contrôle itératif par l'étude de l'ordre fractionnel pour le système singulier de l'ordre fractionnel: (P)-PDa type | RUS |
dc.title | Fractional-order iterative learning control for singular fractional- order system: (P) - PDa type | en |
dc.type | article | |
dc.rights.license | BY | |
dc.citation.epage | 49 | |
dc.citation.issue | 3 | |
dc.citation.other | 66(3): 40-49 | |
dc.citation.rank | M51 | |
dc.citation.spage | 40 | |
dc.citation.volume | 66 | |
dc.identifier.doi | 10.5937/STR1603040L | |
dc.identifier.fulltext | http://machinery.mas.bg.ac.rs/bitstream/id/1030/2273.pdf | |
dc.type.version | publishedVersion |