Work

Predefined-time fractional-order terminal SMC for robot dynamics

Year: 2025

Type: article

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.

Source: An International Journal of Optimization and Control Theories & Applications (IJOCTA)

DOI: 10.36922/ijocta025060020

Authors: Saim Ahmed, Ahmad Taher Azar

Language: English

Topic: Adaptive Control of Nonlinear Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: diamond

OpenAlex ID: W4410146531

FWCI: 1.176

Cites:

Cited by: 3

Related to: 10