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A fractional order sliding mode control method for rigid manipulators is presented in this paper. The high-accuracy positioning of the rigid manipulators is realized by the presented controller. The output control signals of the presented controller are continuous without chattering. Besides, a time-varying function is introduced to adjust the gain of the sign function in sliding mode control, which addresses the problems of the upper-bound overestimation of the uncertainty and power waste in the system. The robustness of the presented method to load disturbance is verified by the simulation results.

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Fractional Order Sliding Mode Control of Rigid Manipulators

  • 会议论文

  • 发表日期：

    2025年

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  • Minghao Zhou,
  • Genghang Wu,
  • William Cai,
  • Yuanke Zhang,
  • Jialin Li,
  • Kemeng Wei,
  • Shaohuo Yu

摘要

A fractional order sliding mode control method for rigid manipulators is presented in this paper. The high-accuracy positioning of the rigid manipulators is realized by the presented controller. The output control signals of the presented controller are continuous without chattering. Besides, a time-varying function is introduced to adjust the gain of the sign function in sliding mode control, which addresses the problems of the upper-bound overestimation of the uncertainty and power waste in the system. The robustness of the presented method to load disturbance is verified by the simulation results.