Fractional Integral Sliding Mode Control for Trajectory Tracking of Baxter Robot Manipulators

Abstract

A fractional integral sliding mode control algorithm is proposed to solve the problems of poor tracking accuracy and poor robustness for multi-degree-of-freedom manipulators during trajectory tracking. This method combines the advantages of sliding mode control strategy with fractional integration, using exponential reaching law based on fractional integral sliding mode surface. In addition, the approximate estimation term of external disturbance is added to the system, which can achieve rapid convergence and has strong anti-interference ability. Moreover, the stability of the system could be guaranteed by the Lyapunov theory. Numerical simulations of the seven degree-of-freedom(7-DOF) Baxter robot manipulators shows promising results that validate the high-precision tracking performance and the better robustness of the proposed robot system with external disturbances.