Error-Tracking Iterative Learning Control for the Constrained Flexible-Joint Manipulator with Initial Errors

The use of manipulators can improve sustainable energy utilization efficiency and increase manufacturing practices for solar tracking systems manufactures, thus it is significant to guarantee a high accuracy manipulators. In this paper, an error-tracking adaptive iterative learning control (AILC) method proposed constrained flexible-joint manipulator (FJM) with initial errors. Due the existence repeated positioning drift, actual are affected, which motivates approach in paper deal repeat problem. desired error trajectory constructed, such that follow without arbitrary values iteration-varying tasks. Then, system uncertainties approximated by capability fuzzy logic (FLSs), combined laws designed update weight approximating FLSs. Considering safety operation manipulator, both input output constraints considered, quadratic-fractional barrier Lyapunov function (QFBLF) always within region. Therefore, under tasks keep transient performance, accessory be improved. Through synthesis, proved converge zero as number iterations goes infinity. Finally, comparative simulations carried out verify effectiveness method.