Abstract:

A P-type iterative learning control (ILC）scheme for a class of fractional order nonlinear time-delay systems is presented. First, using properties of the fractional differential calculus and the generalized Gronwall inequality, a norms based inequality for systems state is derived. Second, by introducing the λ-norm, the sufficient conditions for the convergence of the control input and the tracking errors under openloop and closedloop P-type ILC are obtained, which have less conservative compared with the existing results. Finally, the validity of the proposed method are verified by a numerical example.