Research on Application Characteristics of Fractional Calculus in Sliding Mode Control of Robotic Arm
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Min Liu, Mingyue Ma, Jingjing Xing
An effective fractional order sliding mode control method is proposed for the nonlinear and uncertain robotic arm system. In the design process of the controller, fractional calculus is introduced into the sliding mode control by using fractional order reaching law and fractional order sliding mode control law respectively. The stability of the system is proved by Lyapunov theory, and the simulation is carried out by MATLAB. The results show that the proposed control strategy can effectively improve the tracking speed and tracking accuracy of the joints, and the controller has good effectiveness and strong robustness.
Robotic arm, fractional calculus, fractional order reaching law, sliding mode control, Lyapunov theory Introduction