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Adaptive Fractional High‐order Terminal Sliding Mode Control for Nonlinear Robotic Manipulator under Alternating Loads
Author(s) -
Ahmed Saim,
Wang Haoping,
Tian Yang
Publication year - 2021
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.2354
Subject(s) - control theory (sociology) , terminal sliding mode , robustness (evolution) , adaptive control , sliding mode control , nonlinear system , lyapunov function , robot manipulator , lyapunov stability , pid controller , robust control , computer science , control engineering , control system , engineering , robot , control (management) , artificial intelligence , temperature control , biochemistry , chemistry , physics , electrical engineering , quantum mechanics , gene
In this study, trajectory tracking of robotic manipulators under varying loads with uncertainties and external disturbances is obtained by proposing model‐independent adaptive fractional high‐order terminal sliding mode control (AFO‐HoTSMC). The proposed AFO‐HoTSMC method is composed of an adaptive high‐order terminal sliding mode control integrated with fractional‐order (FO) control. An adaptive tuning control is utilised to evaluate the uncertain unknown dynamics of the system without relying on the prior knowledge of the upper bounds. FO control and HoTSMC are used to achieve the fast finite‐time convergence, chatter‐free control inputs, better tracking performance and robustness. The finite‐time stability of the overall system is investigated and derived from the Lyapunov stability criterion. Finally, to validate the effectiveness and robustness of the developed control method, comparative simulations with H ∞ ‐Adaptive control, intelligent PD (iPD), intelligent PID (iPID) and adaptive third‐order SMC (ATOSMC) are realized to demonstrate the performance of AFO‐HoTSMC.