Predefined-time fractional-order terminal SMC for robot dynamics

Abstract

This study presents an investigation into fractional-order predefined-time terminal sliding mode control (FoPtSMC) for robotic manipulators, particularly focusing on addressing uncertainties and external disturbances. The study introduces a new predefined-time fractional-order SMC method to ensure guaranteed predefined-time convergence and superior tracking performance. This approach also aims to mitigate control input chattering, a common issue in such systems. The Lyapunov analysis is used, and the study establishes the predefined time stability of the proposed closed system. Furthermore, the effectiveness of the proposed FoPtSMC technique is validated through computer simulations applied to a robotic manipulator system.

Keywords

Predefined-time control / Fractional-order SMC scheme / Robotic manipulator

Funding

This paper is funded by Prince Sultan University, Riyadh, Saudi Arabia. The authors would like to thank Prince Sultan University for paying the article processing fee for this paper.

Conflict of interest

The authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest.

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