Adaptive fractional tracking control of robotic manipulator using fixed-time method
Abstract This paper proposes an adaptive fractional-order sliding mode controller to control and stabilize a nonlinear uncertain disturbed robotic manipulator in fixed-time. Fractional calculus is used to construct a fractional-order sliding mode controller (FtNTSM) that suppresses chattering to hel...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Springer
2023-07-01
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| Series: | Complex & Intelligent Systems |
| Subjects: | |
| Online Access: | https://doi.org/10.1007/s40747-023-01164-7 |
| Summary: | Abstract This paper proposes an adaptive fractional-order sliding mode controller to control and stabilize a nonlinear uncertain disturbed robotic manipulator in fixed-time. Fractional calculus is used to construct a fractional-order sliding mode controller (FtNTSM) that suppresses chattering to help the robotic manipulator converge to equilibrium in a fixed-settling time based on fixed-time stability theory. Then, adaptive control is introduced and combined with FtNTSM to overcome the unknown system dynamics. The convergence time of the proposed fixed-time fractional-order sliding mode controller (AFtNTSM) is independent of beginning circumstances and can be precisely assessed, unlike the finite-time control approach. Finally, numerical simulations show that the adaptive fractional-order sliding mode controller outperforms finite-time sliding mode controller. |
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| ISSN: | 2199-4536 2198-6053 |