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Design of Adaptive Fractional-Order Fixed-Time Sliding Mode Control for Robotic Manipulators

In this investigation, the adaptive fractional-order non-singular fixed-time terminal sliding mode (AFoFxNTSM) control for the uncertain dynamics of robotic manipulators with external disturbances is introduced. The idea of fractional-order non-singular fixed-time terminal sliding mode (FoFxNTSM) co...

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Detalles Bibliográficos
Autores principales: Ahmed, Saim, Azar, Ahmad Taher, Tounsi, Mohamed
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9778649/
https://www.ncbi.nlm.nih.gov/pubmed/36554243
http://dx.doi.org/10.3390/e24121838
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author Ahmed, Saim
Azar, Ahmad Taher
Tounsi, Mohamed
author_facet Ahmed, Saim
Azar, Ahmad Taher
Tounsi, Mohamed
author_sort Ahmed, Saim
collection PubMed
description In this investigation, the adaptive fractional-order non-singular fixed-time terminal sliding mode (AFoFxNTSM) control for the uncertain dynamics of robotic manipulators with external disturbances is introduced. The idea of fractional-order non-singular fixed-time terminal sliding mode (FoFxNTSM) control is presented as the initial step. This approach, which combines the benefits of a fractional-order parameter with the advantages of NTSM, gives rapid fixed-time convergence, non-singularity, and chatter-free control inputs. After that, an adaptive control strategy is merged with the FoFxNTSM, and the resulting model is given the label AFoFxNTSM. This is done in order to account for the unknown dynamics of the system, which are caused by uncertainties and bounded external disturbances. The Lyapunov analysis reveals how stable the closed-loop system is over a fixed time. The pertinent simulation results are offered here for the purposes of evaluating and illustrating the performance of the suggested scheme applied on a PUMA 560 robot.
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spelling pubmed-97786492022-12-23 Design of Adaptive Fractional-Order Fixed-Time Sliding Mode Control for Robotic Manipulators Ahmed, Saim Azar, Ahmad Taher Tounsi, Mohamed Entropy (Basel) Article In this investigation, the adaptive fractional-order non-singular fixed-time terminal sliding mode (AFoFxNTSM) control for the uncertain dynamics of robotic manipulators with external disturbances is introduced. The idea of fractional-order non-singular fixed-time terminal sliding mode (FoFxNTSM) control is presented as the initial step. This approach, which combines the benefits of a fractional-order parameter with the advantages of NTSM, gives rapid fixed-time convergence, non-singularity, and chatter-free control inputs. After that, an adaptive control strategy is merged with the FoFxNTSM, and the resulting model is given the label AFoFxNTSM. This is done in order to account for the unknown dynamics of the system, which are caused by uncertainties and bounded external disturbances. The Lyapunov analysis reveals how stable the closed-loop system is over a fixed time. The pertinent simulation results are offered here for the purposes of evaluating and illustrating the performance of the suggested scheme applied on a PUMA 560 robot. MDPI 2022-12-16 /pmc/articles/PMC9778649/ /pubmed/36554243 http://dx.doi.org/10.3390/e24121838 Text en © 2022 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Ahmed, Saim
Azar, Ahmad Taher
Tounsi, Mohamed
Design of Adaptive Fractional-Order Fixed-Time Sliding Mode Control for Robotic Manipulators
title Design of Adaptive Fractional-Order Fixed-Time Sliding Mode Control for Robotic Manipulators
title_full Design of Adaptive Fractional-Order Fixed-Time Sliding Mode Control for Robotic Manipulators
title_fullStr Design of Adaptive Fractional-Order Fixed-Time Sliding Mode Control for Robotic Manipulators
title_full_unstemmed Design of Adaptive Fractional-Order Fixed-Time Sliding Mode Control for Robotic Manipulators
title_short Design of Adaptive Fractional-Order Fixed-Time Sliding Mode Control for Robotic Manipulators
title_sort design of adaptive fractional-order fixed-time sliding mode control for robotic manipulators
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9778649/
https://www.ncbi.nlm.nih.gov/pubmed/36554243
http://dx.doi.org/10.3390/e24121838
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