In order to improve the control performance of industrial robotic arms,an efficient fractional-order iterative sliding mode control method is proposed by combining fractional calculus theory with iterative learning co...In order to improve the control performance of industrial robotic arms,an efficient fractional-order iterative sliding mode control method is proposed by combining fractional calculus theory with iterative learning control and sliding mode control.In the design process of the controller,fractional approaching law and fractional sliding mode control theories are used to introduce fractional calculus into iterative sliding mode control,and Lyapunov theory is used to analyze the system stability.Then taking a two-joint robotic arm as an example,the proposed control strategy is verified by MATLAB simulation.The simulation experiments show that the fractional-order iterative sliding mode control strategy can effectively improve the tracking speed and tracking accuracy of the joint,reduce the tracking error,have strong robustness and effectively suppress the chattering phenomenon of sliding mode control.展开更多
基金National Natural Science Foundation of China(No.61663022)Department of Education Project of Gansu Province(No.18JR3RA105)。
文摘In order to improve the control performance of industrial robotic arms,an efficient fractional-order iterative sliding mode control method is proposed by combining fractional calculus theory with iterative learning control and sliding mode control.In the design process of the controller,fractional approaching law and fractional sliding mode control theories are used to introduce fractional calculus into iterative sliding mode control,and Lyapunov theory is used to analyze the system stability.Then taking a two-joint robotic arm as an example,the proposed control strategy is verified by MATLAB simulation.The simulation experiments show that the fractional-order iterative sliding mode control strategy can effectively improve the tracking speed and tracking accuracy of the joint,reduce the tracking error,have strong robustness and effectively suppress the chattering phenomenon of sliding mode control.
