Iterative Learning Control for Nonlinear Pantograph Systems with Hilfer Fractional Derivatives

Source abstract

This paper investigates the trajectory tracking problem for nonlinear pantograph systems governed by the Hilfer fractional derivative. The presence of fractional memory and proportional delay significantly complicates the control design. To address this issue, P-type and D-type iterative learning control laws are developed to progressively improve the tracking performance over repeated iterations. Additionally, the (1 − γ, λ)-weighted norm is used for the robust convergence of the suggested control techniques. Finally, a numerical example illustrates the effectiveness of the proposed control strategies.