TY  - JOUR
AU  - Cvetković, Boško
AU  - Lazarević, Mihailo
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3569
AB  - In this paper, a new open-loop (PDDa)-D-2 type a fractional order iterative learning control (ILC) is studied for joint space trajectory tracking control of a linearized uncertain robotic arm. The robust convergent analysis of the tracking errors has been done in time domain where it is theoretically proven that the boundednesses of the tracking error are guaranteed in the presence of model uncertainty. The convergence of the proposed open-loop ILC law is proven mathematically using Gronwall integral inequality for a linearized robotic system and sufficient conditions for convergence and robustness are obtained.
PB  - Univerzitet u Nišu - Prirodno-matematički fakultet - Departmant za matematiku i informatiku, Niš
T2  - Filomat
T1  - Fractional-Order Iterative Learning Control for Robotic Arm-(PDD alpha)-D-2 Type
EP  - 10
IS  - 1
SP  - 1
VL  - 35
DO  - 10.2298/FIL2101001C
ER  - 

@article{
author = "Cvetković, Boško and Lazarević, Mihailo",
year = "2021",
abstract = "In this paper, a new open-loop (PDDa)-D-2 type a fractional order iterative learning control (ILC) is studied for joint space trajectory tracking control of a linearized uncertain robotic arm. The robust convergent analysis of the tracking errors has been done in time domain where it is theoretically proven that the boundednesses of the tracking error are guaranteed in the presence of model uncertainty. The convergence of the proposed open-loop ILC law is proven mathematically using Gronwall integral inequality for a linearized robotic system and sufficient conditions for convergence and robustness are obtained.",
publisher = "Univerzitet u Nišu - Prirodno-matematički fakultet - Departmant za matematiku i informatiku, Niš",
journal = "Filomat",
title = "Fractional-Order Iterative Learning Control for Robotic Arm-(PDD alpha)-D-2 Type",
pages = "10-1",
number = "1",
volume = "35",
doi = "10.2298/FIL2101001C"
}

Cvetković, B.,& Lazarević, M.. (2021). Fractional-Order Iterative Learning Control for Robotic Arm-(PDD alpha)-D-2 Type. in Filomat
Univerzitet u Nišu - Prirodno-matematički fakultet - Departmant za matematiku i informatiku, Niš., 35(1), 1-10.
https://doi.org/10.2298/FIL2101001C

Cvetković B, Lazarević M. Fractional-Order Iterative Learning Control for Robotic Arm-(PDD alpha)-D-2 Type. in Filomat. 2021;35(1):1-10.
doi:10.2298/FIL2101001C .

Cvetković, Boško, Lazarević, Mihailo, "Fractional-Order Iterative Learning Control for Robotic Arm-(PDD alpha)-D-2 Type" in Filomat, 35, no. 1 (2021):1-10,
https://doi.org/10.2298/FIL2101001C . .