A Review on Fractional-Order Modelling and Control of Robotic Manipulators

Robot manipulators are widely used in many fields and play a vital role the assembly, maintenance, servicing of future complex in-orbit infrastructures. They also helpful areas where it is undesirable for humans to go, instance, during undersea exploration, radioactive surroundings, other hazardous places. Robotic highly coupled non-linear multivariable mechanical systems designed perform one these specific tasks. Further, time-varying constraints uncertainties robotic will adversely affect characteristics response systems. Therefore, require effective modelling robust controllers handle such complexities, which challenging control engineers. To solve this problem, researchers have fractional-order concept manipulators; yet remains challenge. This review paper presents comprehensive significant research on state-of-the-art strategies manipulators. It aims provide engineering community better understanding up-to-date knowledge modelling, trends, directions. The main table summarises around 95 works closely related mentioned issue. Key focused include type, model order, control, controller parameters, comparison controllers, tuning techniques, objective function, definitions approximation simulation tools validation type. Trends existing been broadly studied depicted graphically. perspective gaps discussed comprehensively.