کنفرانس مهندسی برق ایران

صفحه اصلی / سی و چهارمین کنفرانس بین المللی مهندسی برق

Optimal Control of Time-Varying Fractional-Order Singular Systems with Multiple Time Delays and Uncertainties

نویسندگان :

Vahid Safari Dehnavi¹ Masoud Shafiee²

1- دانشگاه صنعتی امیرکبیر 2- دانشگاه صنعتی امیرکبیر

کلمات کلیدی :

Fractional-order singular system،multiple delays and uncertainty،optimal control

چکیده :

This paper presents a framework for delayed, time-varying, and constrained systems that integrates model-based and data-driven methods to achieve optimal control in the presence of uncertainty. To design the controller, a hybrid approach is used that addresses the limitations of both model-based and data-driven methods. Initially, the optimal control conditions based on the Hamiltonian for fractional-order singular systems with multiple delays are presented; the optimal control is formulated for free final states and free final time. Then, a hybrid discrete-continuous method and orthogonal functions are employed to solve the optimal control problem. This method combines the Grunwald-Letnikov approximation and the Galerkin method in a linear structure for the state and co-state equations, incorporating initial and boundary conditions. The final time is optimized by gradient descent. This algorithm is iteratively applied, and the final time and optimal control input are obtained. Finally, this method is implemented in the system execution, and the model-based and data-driven methods are used simultaneously to achieve optimal control and reduce system uncertainties. The proposed method is implemented on a multi-agent rehabilitation robot, demonstrating its ability to achieve optimal control