Title:Fractional Dynamic Sliding Mode Control for Uncertain Chaotic Systems Applied to a Chaotic Robot Arm Under Dynamic Load
VOLUME: 10 ISSUE: 6
Author(s):Sara Gholipour P., Sara Minagar, Javad Kazemitabar* and Mobin Alizadeh
Affiliation:Farabina Noshiravni’s Smart LLC, Babol, Farabina Noshiravni’s Smart LLC, Babol, Department of Electrical and Computer Engineering, Babol Noshirvani University of Technology, Babol, Farabina Noshiravni’s Smart LLC, Babol
Keywords:Fractional dynamic sliding mode control, chaotic robot system, lyapunov exponent, bifurcation diagram, poincaré
map, numerical simulations.
Abstract:
Background: A novel type of control strategy is presented for the control of chaotic
systems, particularly a chaotic robot in joint and workspace, which is the result of applying fractional
calculus to dynamic sliding mode control.
Objectives: To guarantee the sliding mode condition, a control law is introduced based on the
Lyapunov stability theory.
Methods: A control scheme is proposed for reducing the chattering problem in finite time tracking
and robust in the presence of system matched disturbances.
Results: Qualitative and quantitative characteristics of the chaotic robot are all proven to be viable
thru simulations.
Conclusion: In addition, all of the chaotic robot’s qualitative and quantitative characteristics have
been investigated. Numerical simulations indicate the viability of our control method.
