Adaptive fractional tracking control of robotic manipulator using fixed-time method

Autor: Saim Ahmed, Ahmad Taher Azar
Jazyk: angličtina
Rok vydání: 2023
Předmět:
Zdroj: Complex & Intelligent Systems, Vol 10, Iss 1, Pp 369-382 (2023)
Druh dokumentu: article
ISSN: 2199-4536
2198-6053
DOI: 10.1007/s40747-023-01164-7
Popis: 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.
Databáze: Directory of Open Access Journals
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