Dynamic Sliding Mode Control based on Fractional calculus subject to uncertain delay based chaotic pneumatic robot

TL;DR

This paper introduces a fractional calculus-based dynamic sliding mode control method to address chattering and chaos in delay-affected pneumatic robots, ensuring stability and improved control performance.

Contribution

It presents a novel fractional dynamic sliding mode control scheme specifically designed for chaotic robotic systems with delays, enhancing control robustness and stability.

Findings

Effective chattering elimination demonstrated

Stable control achieved in delay-based chaotic robot

Numerical simulations confirm feasibility and robustness

Abstract

This paper considers the chattering problem of sliding mode control while delay in robot manipulator caused chaos in such electromechanical systems. Fractional calculus as a powerful theorem to produce a novel sliding mode; which has a dynamic essence is used for chattering elimination. To realize the control of a class of chaotic systems in master-slave configuration this novel fractional dynamic sliding mode control scheme is presented and examined on delay based chaotic robot in joint and work space. Also the stability of the closed-loop system is guaranteed by Lyapunov stability theory. Beside these, delayed robot motions are sorted out for qualitative and quantification study. Finally, numerical simulation example illustrates the feasibility of proposed control method.