Closed-loop PD^a-type iterative learning control for fractional nonlinear systems with time-delay

摘要

Closed-loop PD^α-type iterative learning control (ILC) update rate for a kind of fractional-order nonlinear systems with time-delay is proposed. According to the basic properties of fractional calculus, the sufficient conditions for the system control input and the convergence of the tracking error are obtained by introducing the λ-norm. Compared with the P-type learning rate, the PD^α-type learning rate has better convergence effect. A number of numerical simulations are illustrated to verify the validity of the proposed method.