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
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.