Abstract
Background:A novel type of control strategy is presented for the control of chaotic systems, particularly a chaotic robot in joint and workspace, which is the result of applying fractional calculus to dynamic sliding mode control.Objectives:To guarantee the sliding mode condition, a control law is introduced based on the Lyapunov stability theory.Methods:A control scheme is proposed for reducing the chattering problem in finite time tracking and robust in the presence of system matched disturbances.Results:Qualitative and quantitative characteristics of the chaotic robot are all proven to be viable thru simulations.Conclusion:In addition, all of the chaotic robot’s qualitative and quantitative characteristics have been investigated. Numerical simulations indicate the viability of our control method.
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