ON THE ASYMPTOTIC STABILITY OF A NEW FRACTIONAL-ORDER SLIDING MODE CONTROL WITH APPLICATION TO ROBOTIC SYSTEMS

Author:

ABDELHEDI FATMA1ORCID,KHLIF RIM JALLOULI2ORCID,NOURI AHMED SAID3ORCID,DERBEL NABIL4ORCID

Affiliation:

1. Department of Electrical and Computer Engineering, College of Engineering King Abdulaziz University, Jeddah 22254, Saudi Arabia

2. Higher Institute of Computer Science and Multimedia of Sfax, University of Sfax, Tunisia

3. Research Laboratory of Numerical Control of Industrial Processes, National Engineering School of Gabes, University of Gabes, Tunisia

4. Control and Energy Management Laboratory (CEM-Lab), National Engineering School of Sfax, University of SFax, Tunisia

Abstract

This paper presents an advanced control strategy based on Fractional-Order Sliding Mode Control (FO-SMC), which introduces a robust solution to significantly improve the reliability of robotic manipulator systems and increase its control performance. The proposed FO-SMC strategy includes a two-key term-based Fractional Sliding Function (FSF) that presents the main contribution of this work. Additionally, a fractional-order-based Lyapunov stability analysis is developed for a class of nonlinear systems to guarantee the asymptotic stability of the closed loop system. Four FSF-based versions of the designed FO-SMC are studied and discussed. Various scenarios of the proposed control strategy are tested on a 3-degree-of-freedom SCARA robotic arm and compared to recent FO-SMC works, demonstrating the effectiveness of the new proposed control strategy to (i) ensure the asymptotic stability, (ii) achieve a smooth start-up, (iii) cancel the static error, giving a good tracking trajectory, and (iv) reduce the control torques, yielding a consumed energy minimization.

Funder

King Abdulaziz University

Publisher

World Scientific Pub Co Pte Ltd

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