Robust Trajectory Tracking of Delta Parallel Robot Using Fractional-Order Sliding Mode Control

Abstract

In this study, a Fractional-Order Sliding Mode Control scheme is proposed for trajectory tracking control of Delta parallel robot. The proposed controller is compared with both integer-order Proportional-Derivative controller and integer-order Sliding Mode Controller with Computed Torque Control method. The forward kinematics, inverse kinematics and dynamic of Delta parallel robot are described. A Solidworks/Matlab/SimScape/Multibody model of Delta parallel robot is generated and used for dynamic parameter estimation and validation of the proposed method. Particle Swarm Optimization algorithm is utilized for dynamic parameter estimation of Delta parallel robot. The validation of the proposed method is evaluated for three different trajectories. External disturbances, noise and also various payloads are considered in testing robustness of control techniques. The results of the robustness tests confirm higher performance of FOSMC than two other control schemes.