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

Fatma Abdelhedi, Rim Jallouli Khlif (), Ahmed Said Nouri () and Nabil Derbel ()
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Fatma Abdelhedi: Department of Electrical and Computer Engineering, College of Engineering King Abdulaziz University, Jeddah 22254, Saudi Arabia
Rim Jallouli Khlif: ��Higher Institute of Computer Science and Multimedia of Sfax, University of Sfax, Tunisia
Ahmed Said Nouri: ��Research Laboratory of Numerical Control of Industrial Processes, National Engineering School of Gabes, University of Gabes, Tunisia
Nabil Derbel: �Control and Energy Management Laboratory (CEM-Lab), National Engineering School of Sfax, University of SFax, Tunisia

FRACTALS (fractals), 2024, vol. 32, issue 01, 1-15

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.

Keywords: Sliding Mode Control; Fractional-Order Sliding Mode Control (FO-SMC); Asymptotic Stability; Robot Manipulators (search for similar items in EconPapers)
Date: 2024
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DOI: 10.1142/S0218348X24500312

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