Fractional-order iterative learning control for robotic Arm-PD2Dα type

In this paper, a new open-loop PD2D? type fractional order iterative learning control (ILC) is studied for joint space trajectory tracking of linearized uncertain robotic arm. The robust convergent analysis the errors has been done in time domain where it theoretically proven that boundednesses error are guaranteed presence model uncertainty. convergence proposed ILC law mathematically using Gronwall integral inequality system and sufficient conditions robustness obtained.