Sliding Mode Control for a Class of Sub-Systems with Fractional Order Varying Trajectory Dynamics

Abstract

Abstract In this paper, a sliding mode control strategy is discussed for a class of nonlinear mechanical sub-systems with varying trajectory dynamics. The proposed class of sub-systems are represented in this simulation example by a two link robot actuator/manipulator. The fractional order is introduced in the setpoint definition as to represent changes in the desired trajectory of this sub-system. Furthermore, the same order is used to adapt the control law to the new dynamics. Uncertainties are introduced in the model used for the control law, hence robustness is intrinsic.