Robust fractional-order sliding mode control for robotic manipulator system with time-varying disturbances

Robust fractional-order sliding mode control for robotic manipulator system with time-varying disturbances

This paper presents a novel fractional-order sliding mode control (FOSMC) strategy for a robotic manipulator, addressing key limitations of conventional sliding mode control (SMC) methods. While traditional SMC is widely recognized for its robustness against external disturbances and uncertainties,...

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Bibliographic Details
Main Authors: Khaled Bin Gaufan, Mubarak Badamasi Aremu, Nezar M. Alyazidi, Ali Nasir
Format: Article
Language:English
Published: Elsevier 2025-09-01
Series:Franklin Open
Subjects:
Two-link robotic manipulator
Fractional calculus
Sliding mode control (SMC)
Fractional-order control
Chattering reduction
Robust control
Online Access:http://www.sciencedirect.com/science/article/pii/S2773186325000775
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