Fractional-order Fixed-time Non-singular Sliding Mode Control for Nonlinear Robotic Manipulators

被引：1

作者：

Ahmed, Saim ^{[1
]}

Azar, Ahmad Taher ^{[1
,2
]}

Hameed, Ibrahim A. ^{[3
]}

机构：

[1] Prince Sultan Univ, Coll Comp & Informat Sci, ASSCL, Riyadh 11586, Saudi Arabia

[2] Benha Univ, Fac Computers & Artificial Intelligence, Banha 13518, Egypt

[3] Norwegian Univ Sci & Technol, Dept ICT & Nat Sci, Larsgardsve Gen,2, N-6009 A Lesund, Norway

来源：

IFAC PAPERSONLINE | 2023年 / 56卷 / 02期

关键词：

Fixed-time SMC; nonlinear robotic manipulators; fractional-order control; fast; convergence;

D O I：

10.1016/j.ifacol.2023.10.965

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this study, fractional-order non-singular fixed-time terminal sliding mode control (FoFxNTSM) for nonlinear robotic manipulators in the existence of uncertainties and external disturbances is examined. To begin, the concept of fractional-order fixed-time non-singular terminal sliding mode control is introduced. This method combines the benefits of NTSM (which provides fast convergence speed, smooth and singularity-free control inputs) with the advantages of a fractional-order constants (which improves position tracking effectiveness). Lyapunov analysis yields the fixed-time stability of the closed-loop system. To evaluate and illustrate the performance of the proposed strategy, the relevant simulation results are presented. Copyright (c) 2023 The Authors.

引用

页码：8105 / 8110

页数：6

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