Adaptive fractional tracking control of robotic manipulator using fixed-time method
نویسندگان
چکیده
Abstract This paper proposes an adaptive fractional-order sliding mode controller to control and stabilize a nonlinear uncertain disturbed robotic manipulator in fixed-time. Fractional calculus is used construct (FtNTSM) that suppresses chattering help the converge equilibrium fixed-settling time based on fixed-time stability theory. Then, introduced combined with FtNTSM overcome unknown system dynamics. The convergence of proposed (AFtNTSM) independent beginning circumstances can be precisely assessed, unlike finite-time approach. Finally, numerical simulations show outperforms controller.
منابع مشابه
Model Free Adaptive Control for Robotic Manipulator Trajectory Tracking
This paper considers the problem of trajectory tracking of robotic manipulator system by using model free adaptive control (MFAC). The dynamic linearization technique is first introduced, and then the controller can be designed only by I/O data of the robotic manipulator system via MFAC approach, not includes any explicit model information. With some given conditions for controller parameters, ...
متن کاملUncertain Robotic Manipulator System’s Tracking Control Based on Fuzzy Adaptive Method
The paper puts forward a control scheme by a computed torque controller plus a fuzzy compensator concerning the issue of tracking control of uncertain robotic manipulator. Computed torque controller is used for the nominal system and the fuzzy compensator is used to control the uncertain system. The parameters of fuzzy compensator are adaptively adjusted based on Lynapunov stability theory. The...
متن کاملoptimal balancing of a robotic manipulator using genetic algorithm method
optimal balancing is a new approach based on optimal control a which modes, controls and the amount of equilibrium scale are calculated simultaneously. this approach has a significant effect on increasing performance of industrial robots which causes maximum decreasing of energy consumption. despite many applications of robotics such as welding and gluing, the path is predefined , but other unk...
متن کاملNonlinear Robust Tracking Control of an Underwater Vehicle-Manipulator System
This paper develops an improved robust multi-surface sliding mode controller for a complicated five degrees of freedom Underwater Vehicle-Manipulator System with floating base. The proposed method combines the robust controller with some corrective terms to decrease the tracking error in transient and steady state. This approach improves the performance of the nonlinear dynamic control scheme a...
متن کاملDisturbance Estimation Based Tracking Control for a Robotic Manipulator
A tracking control algorithm based on a disturbance estimation scheme is studied. The tracking control problem is formulated as a disturbance rejection problem, with all the system nonlinearities and uncertainties lumped into disturbance. A disturbance estimation scheme is proposed, which is based on a nominal linear plant dynamics plus proportional error feedback corrections. The tracking cont...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Complex & Intelligent Systems
سال: 2023
ISSN: ['2198-6053', '2199-4536']
DOI: https://doi.org/10.1007/s40747-023-01164-7