Fractional-order adaptive non-singular fast terminal sliding mode control with time delay estimation for robotic manipulators

DOI10.1049/IET-CTA.2019.1302zbMATH Open1542.93233MaRDI QIDQ6609014

Yangyang Zhang, Peng Wei, Xiaohui Yang, Xiao-Ping Liu

Publication date: 20 September 2024

Published in: IET Control Theory \& Applications (Search for Journal in Brave)

zbMATH Keywords

stabilityconvergenceadaptive controlcontrol systemnonlinear control systemsvariable structure systemsLyapunov stability theoryLyapunov methodsrobotic manipulatorsfinite-time stabilitytime delay estimationrobotcontrol algorithmcontrol system synthesismanipulatorscontrol signaltwo-link robotic manipulatorcontrol methodscontrol approachcontinuous TSM-type switch itemfast finite-time convergenceFO-NFTSM surfacefractional-order nonsingular fast terminalmode schemeTDE element

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Fractional derivatives and integrals (26A33) Variable structure systems (93B12) Delay control/observation systems (93C43)

Cites Work

• Title not available (Why is that?)
• Existence and uniqueness of positive solution to singular fractional differential equations
• Fuzzy fractional order sliding mode controller for nonlinear systems
• Fractional order adaptive high-gain controllers for a class of linear systems
• Positive solutions to singular fractional differential system with coupled boundary conditions
• Dual terminal sliding mode control design for rigid robotic manipulator
• Robust adaptive sliding mode control for uncertain nonlinear MIMO system with guaranteed steady state tracking error bounds
• Nonlinear adaptive control for quadrotor flying vehicle
• Energy-based approach to sliding composite adaptive control for rigid robots with finite error convergence time
• Stability guaranteed auto-tuning algorithm of a time-delay controller using a modified Nussbaum function

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