In this paper, a computational intelligence method is used for the solution of fractional optimal control problems (FOCP)'s with equality and inequality constraints. According to the Ponteryagin minimum principle (PMP) for FOCP with fractional derivative in the Riemann- Liouville sense and by constructing a suitable error function, we define an unconstrained minimization problem. In the optimiz...

in this paper, we consider the second-kind chebyshev polynomials (skcps) for the numerical solution of the fractional optimal control problems (focps). firstly, an introduction of the fractional calculus and properties of the shifted skcps are given and then operational matrix of fractional integration is introduced. next, these properties are used together with the legendre-gauss quadrature fo...

In this paper, a finite-horizon optimal control problem involving dynamical system described by linear Caputo fractional differential equation and quadratic cost functional is considered. An explicit formula for the value given, which includes solution of certain Fredholm integral equation. A step-by-step feedback procedure constructing $ \varepsilon $-optimal controls with any accuracy > 0 ...

In this paper, a new numerical method for solving fractional optimal control problems (FOCPs) is presented. The fractional derivative in the dynamic system is described in the Caputo sense. The method is based upon biorthogonal cubic Hermite spline multiwavelets approximations. The properties of biorthogonal multiwavelets are first given. The operational matrix of fractional Riemann-Lioville in...

this paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. the proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. as a result, the proposed controller is simple, fast response and superior to the torque c...