Fractional-order Fixed-time Non-singular Sliding Mode Control for Nonlinear Robotic Manipulators

Abstract

In this study, fractional-order non-singular fixed-time terminal sliding mode control (FoFxNTSM) for nonlinear robotic manipulators in the existence of uncertainties and external disturbances is examined. To begin, the concept of fractional-order fixed-time non-singular terminal sliding mode control is introduced. This method combines the benefits of NTSM (which provides fast convergence speed, smooth and singularity-free control inputs) with the advantages of a fractional-order constants (which improves position tracking effectiveness). Lyapunov analysis yields the fixed-time stability of the closed-loop system. To evaluate and illustrate the performance of the proposed strategy, the relevant simulation results are presented.