Fractional order adaptive sliding mode control method of manipulator

Abstract

A new controller (NAFOFTSMC) is designed and successfully applied to the manipulator system. Compared with traditional integer-order sliding mode control methods (IOSMC), the fractional order sliding mode control method (FOSMC) adopted additional degrees of freedom and, to some extent, weakens the drawback of sliding mode control chattering problem. Fractional-order adaptive rate compensation is utilized to compensate for the total disturbance set of the system. The new sliding surface reduces the derivative signals that are difficult to obtain due to external interference and other factors in the robotic arm system. It also reduces the unknown parameters for adjustment, increases the proportion term, and thus enables the system to have higher control accuracy and shorter adjustment time. While designing the controller, the stability is proved at the end of the fourth section. At the same time, this control method was compared and analyzed with IOSMC, simple FOSMC, and a Pre-improved controller (AFOFTSMC).