FUZZY FRACTIONAL ORDER SLIDING MODE CONTROL FOR OPTIMAL ENERGY CONSUMPTION-TRANSIENT RESPONSE TRADE-OFF IN ROBOTIC SYSTEMS

Fatma Abdelhedi, Rim Jallouli Khlif, Ahmed Said Nouri and Nabil Derbel
Additional contact information
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, Sfax, Tunisia
Ahmed Said Nouri: ��National Engineering School of Sfax, University of Sfax, Sfax, Tunisia
Nabil Derbel: ��National Engineering School of Sfax, University of Sfax, Sfax, Tunisia

FRACTALS (fractals), 2024, vol. 32, issue 05, 1-13

Abstract: This work presents a new fuzzy logic parameter tuning-based fractional order sliding mode control (F-FOSMC) strategy for the trajectory tracking of robotic systems. The primary objective is to achieve an optimal control compromise seeking to minimize energy consumption for required motions, all while increasing both accuracy and rapidity of the transient response, addressing therefore a critical challenge in the field of robotics. Our approach integrates a sophisticated fuzzy logic fractional order mechanism to dynamically fine-tune the noninteger derivation parameter of the FOSMC, offering adaptability to varying operational conditions. This intelligent fuzzy logic controller tuning optimizes the FOSMC performance, demonstrates a remarkable capacity to handle uncertainties and disturbances intrinsic to robotic applications and allows to optimize the trade-off between the energy consumption and transient response efficiency throughout the robot’s motion. The effectiveness of the proposed study is thoroughly examined via simulations conducted on a 3 DOF manipulator robotic system. Results showcase that F-FOSMC significantly reduces control energy consumption while preserving rapid and efficient transient response characteristics.

Keywords: Sliding Mode Control; Fractional Order Sliding Mode Control (FO-SMC); Fuzzy Logic Control; Nonlinear Systems; Asymptotic Stability; Manipulator Robot (search for similar items in EconPapers)
Date: 2024
References: Add references at CitEc
Citations:

Downloads: (external link)
http://www.worldscientific.com/doi/abs/10.1142/S0218348X24500944
Access to full text is restricted to subscribers

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:wsi:fracta:v:32:y:2024:i:05:n:s0218348x24500944

Ordering information: This journal article can be ordered from

DOI: 10.1142/S0218348X24500944

Access Statistics for this article

FRACTALS (fractals) is currently edited by Tara Taylor

More articles in FRACTALS (fractals) from World Scientific Publishing Co. Pte. Ltd.
Bibliographic data for series maintained by Tai Tone Lim ().