Robust Trajectory Tracking of Delta Parallel Robot using Fractional-Order Sliding Mode Control

In this study, a Fractional-Order Sliding Mode Control scheme is proposed for trajectory tracking control of Delta parallel robot. The controller compared with both integer-order Proportional-Derivative and Controller Computed Torque method. forward kinematics, inverse kinematics dynamic robot are described. A Solidworks/Matlab/SimScape/Multibody model generated used parameter estimation validation the Particle Swarm Optimization algorithm utilized method evaluated three different trajectories. External disturbances, noise also various payloads considered in testing robustness techniques. results tests confirm higher performance FOSMC than two other schemes.