Design of a Fractional-Order Adaptive Integral Sliding Mode Controller for the Trajectory Tracking Control of Robot Manipulators

Abstract

In this study, trajectory tracking control of six-degrees of freedom robotic manipulator has been performed using the proposed fractional-order adaptive integral sliding mode control scheme. The proposed method is first composed by fractional-order and adaptive integral sliding mode control to achieve the finite-time convergence, chattering-free control inputs, better tracking performance and robustness for the robotic manipulator. Furthermore, an adaptive method has been utilized to evaluate and compensate the uncertain and unknown dynamics of the system without relying on the prior knowledge of the upper bounds. To illustrate the efficiency of the proposed fractional-order adaptive integral sliding mode control method, the real-time experimental studies have been performed for the six-degrees of freedom industrial robot manipulator. The experimental outcomes strongly verified that the proposed controller gives quite well trajectory tracking response and faster convergence compared with the classical integral sliding mode control under the external payload.