Feedback PDα type Iterative Learning Control for Fractional-Order Human Arm- Support Nonlinear System
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2017
Authors
Lazarević, MihailoĐurović, Nikola
Cajić, Milan
Cvetković, Boško
Mandić, Petar
Bučanović, Ljubiša
Conference object (Published version)
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This paper addresses the problem of application of fractional order Iterative learning control (FOILC) for complex human arm-support system which can be modelled as nonlinear singular system of fractional order. An algorithm of a new strategy for the FOILC implementation is proposed.Sufficient conditions for the convergence in the time domain of a proposed ILC schemes
are given by the corresponding theorems and proved. Finally, a numerical simulations show the feasibility and effectiveness of the proposed approach.
Keywords:
iterative learning control / fractional calculus / human arm supportSource:
Proceedings of 9th European Nonlinear Dynamics Conference (ENOC2017), edited by Gábor Stépán, Gábor Csernák. Budapest, 2017., 2017, 1-2Publisher:
- Budapest : CongressLIne Ltd.
Funding / projects:
- Sustainability and improvement of mechanical systems in energetic, material handling and conveying by using forensic engineering, environmental and robust design (RS-MESTD-Technological Development (TD or TR)-35006)
- Development of methods and techniques for early diagnostic of cervical, colon, oral cavity cancer and melanoma based on a digital image and excitation-emission spectrum in visible and infrared domain (RS-MESTD-Integrated and Interdisciplinary Research (IIR or III)-41006)
- Dynamics of hybrid systems with complex structures. Mechanics of materials. (RS-MESTD-Basic Research (BR or ON)-174001)
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Mašinski fakultetTY - CONF AU - Lazarević, Mihailo AU - Đurović, Nikola AU - Cajić, Milan AU - Cvetković, Boško AU - Mandić, Petar AU - Bučanović, Ljubiša PY - 2017 UR - https://machinery.mas.bg.ac.rs/handle/123456789/4153 AB - This paper addresses the problem of application of fractional order Iterative learning control (FOILC) for complex human arm-support system which can be modelled as nonlinear singular system of fractional order. An algorithm of a new strategy for the FOILC implementation is proposed.Sufficient conditions for the convergence in the time domain of a proposed ILC schemes are given by the corresponding theorems and proved. Finally, a numerical simulations show the feasibility and effectiveness of the proposed approach. PB - Budapest : CongressLIne Ltd. C3 - Proceedings of 9th European Nonlinear Dynamics Conference (ENOC2017), edited by Gábor Stépán, Gábor Csernák. Budapest, 2017. T1 - Feedback PDα type Iterative Learning Control for Fractional-Order Human Arm- Support Nonlinear System EP - 2 SP - 1 UR - https://hdl.handle.net/21.15107/rcub_machinery_4153 ER -
@conference{ author = "Lazarević, Mihailo and Đurović, Nikola and Cajić, Milan and Cvetković, Boško and Mandić, Petar and Bučanović, Ljubiša", year = "2017", abstract = "This paper addresses the problem of application of fractional order Iterative learning control (FOILC) for complex human arm-support system which can be modelled as nonlinear singular system of fractional order. An algorithm of a new strategy for the FOILC implementation is proposed.Sufficient conditions for the convergence in the time domain of a proposed ILC schemes are given by the corresponding theorems and proved. Finally, a numerical simulations show the feasibility and effectiveness of the proposed approach.", publisher = "Budapest : CongressLIne Ltd.", journal = "Proceedings of 9th European Nonlinear Dynamics Conference (ENOC2017), edited by Gábor Stépán, Gábor Csernák. Budapest, 2017.", title = "Feedback PDα type Iterative Learning Control for Fractional-Order Human Arm- Support Nonlinear System", pages = "2-1", url = "https://hdl.handle.net/21.15107/rcub_machinery_4153" }
Lazarević, M., Đurović, N., Cajić, M., Cvetković, B., Mandić, P.,& Bučanović, L.. (2017). Feedback PDα type Iterative Learning Control for Fractional-Order Human Arm- Support Nonlinear System. in Proceedings of 9th European Nonlinear Dynamics Conference (ENOC2017), edited by Gábor Stépán, Gábor Csernák. Budapest, 2017. Budapest : CongressLIne Ltd.., 1-2. https://hdl.handle.net/21.15107/rcub_machinery_4153
Lazarević M, Đurović N, Cajić M, Cvetković B, Mandić P, Bučanović L. Feedback PDα type Iterative Learning Control for Fractional-Order Human Arm- Support Nonlinear System. in Proceedings of 9th European Nonlinear Dynamics Conference (ENOC2017), edited by Gábor Stépán, Gábor Csernák. Budapest, 2017.. 2017;:1-2. https://hdl.handle.net/21.15107/rcub_machinery_4153 .
Lazarević, Mihailo, Đurović, Nikola, Cajić, Milan, Cvetković, Boško, Mandić, Petar, Bučanović, Ljubiša, "Feedback PDα type Iterative Learning Control for Fractional-Order Human Arm- Support Nonlinear System" in Proceedings of 9th European Nonlinear Dynamics Conference (ENOC2017), edited by Gábor Stépán, Gábor Csernák. Budapest, 2017. (2017):1-2, https://hdl.handle.net/21.15107/rcub_machinery_4153 .