Trajectory tracking of a mobile robot manipulator using fractional backstepping sliding mode and neural network control methods

Abstract

ABSTRACT In this paper, a fractional adaptive backstepping sliding mode control system based on the Caputo-Fabrizio derivative for a 2-DoF mobile robot manipulator is designed and described. The fractional dynamics of the system are obtained using the Atangana-Baleanu derivative and the Euler-LaGrange formalism, which include external disturbances, parametric uncertainties, and nonholonomic constraints. A fractional sliding mode control strategy is designed for trajectory tracking tasks. In order to compensate for the chattering phenomenon, the proposed controller is combined with a fractional backstepping strategy. Additionally, the Caputo-Fabrizio derivative is introduced to further reduce the chattering effects and improve the driver performance. A fractional adaptive control law is used to cope with the parametric uncertainties, while adding robustness to external disturbances. To further improve system performance, a tracking control strategy based on a fractional neural network is added. For a comparative analysis, the conventional adaptive neural network backstepping sliding mode control is implemented. Numerical simulations are described and discussed to validate the effectiveness of our control system for trajectory tracking tasks under different operating conditions such as trajectory changes and external disturbances. Our proposed control system and its traditional counterpart were tuned using the Cuckoo optimization approach.