Abstract
In this study, an adaptive fractional-order terminal sliding mode controller is proposed for controlling robot manipulators with uncertainties and external disturbances. An adaptive tuning method is utilised to deal with uncertainties which upper bounds are unknown in practical cases. Fast convergence is achieved using non-singular fast terminal sliding mode control. Also, fractional-order controller is used to improve tracking performance of controller. After proposing a new stable fractional-order non-singular and non-linear switching manifold, a sliding mode control law is designed. The stability of the closed-loop system is proved by Lyapunov stability theorem. Simulation results demonstrate the effectiveness and high-precision tracking performance of this controller in comparison with integer-order terminal sliding mode controllers.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.