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On The Asymptotic Stability Of A New Fractional-Order Sliding Mode Control With Application To Robotic Systems

Author

Listed:
  • 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)

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.

Suggested Citation

  • Fatma Abdelhedi & Rim Jallouli Khlif & Ahmed Said Nouri & Nabil Derbel, 2024. "On The Asymptotic Stability Of A New Fractional-Order Sliding Mode Control With Application To Robotic Systems," FRACTALS (fractals), World Scientific Publishing Co. Pte. Ltd., vol. 32(01), pages 1-15.
    • Handle: RePEc:wsi:fracta:v:32:y:2024:i:01:n:s0218348x24500312
    DOI: 10.1142/S0218348X24500312
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