Fractional order fuzzy sliding mode controller for robotic flexible joint manipulators

Abstract

This paper presents a fractional-order fuzzy sliding mod control (FOFSMC) scheme for robotic manipulators. The FOFSMC can drive system tracking error to converge to zero in finite time. The FOFSMC, incorporating the fractional-order controller (FOC), the SMC, and a fuzzy logic controller (FLC), is designed to retain the advantages of the SMC while reducing the chattering. The FOFSMC is applied to a level control in robotic manipulators, as a case study. the performance of the proposed controller evaluated to compare the performance with respect the conventional sliding mode controller. The simulation results demonstrate that the FOFSMC can provide a reasonable tracking performance.