Research on Sliding Mode Control of Robotic Arm Based on Fractional Calculus

Authors

Zhang Xin, School of Automation & Electrical Engineering, Lanzhou Jiaotong University, Lanzhou 730070, China;
Jiaxin Li, School of Automation & Electrical Engineering, Lanzhou Jiaotong University, Lanzhou 730070, China;

Abstract

Abstract: An effective fractional order sliding mode control method is proposed for the nonlinear and uncertain robotic arm system by combining the advantages of the fractional calculus theory and the sliding mode control strategy. In the design of the controller, the fractional calculus is introduced into the sliding mode control by using the fractional order reaching law and the fractional order sliding mode control law respectively, and is proved by the Lyapunov theory to ensure the stability of the system. The proposed control method is applied to a two-joint robotic arm and is verified by the MATLAB simulation software. The results show that the proposed control strategy can effectively improve the tracking speed and tracking accuracy of the joints, and the controller is of good effectiveness and strong robustness.

Recommended Citation

Xin, Zhang and Li, Jiaxin (2020) "Research on Sliding Mode Control of Robotic Arm Based on Fractional Calculus," Journal of System Simulation: Vol. 32: Iss. 5, Article 18.
DOI: 10.16182/j.issn1004731x.joss.18-0584
Available at: https://dc-china-simulation.researchcommons.org/journal/vol32/iss5/18

First Page

911

Revised Date

2019-01-19

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.18-0584

Last Page

917

CLC

TP391.9

Recommended Citation

Zhang Xin, Li Jiaxin. Research on Sliding Mode Control of Robotic Arm Based on Fractional Calculus[J]. Journal of System Simulation, 2020, 32(5): 911-917.

DOI

10.16182/j.issn1004731x.joss.18-0584