Joint Position Tracking Control of a Two-Link Planar Robot Arm Using Fuzzy Fractional Order Sliding-Mode Strategy

Abstract

In this study, a fuzzy fractional order sliding-mode control (FFOSMC) is proposed for the joint position tracking of a two-link planar robot arm in the presence of external disturbances. First, nonlinear sliding surfaces represented by tracking errors of each joint with fractional order terms are designed. Then, the nonlinear sliding surfaces are asymptotically regulated to zero via the proposed fuzzy inference systems. Once the tracking errors reach to the designed sliding surfaces, tracking errors of each joint converge to zero in finite time. Finally, simulations are conducted to verify the effectiveness and feasibility of the proposed control scheme. Finally, the results demonstrate the excellent performance as the proposed FFOSMC is applied to two-link planar robot arm in spite of suffering external disturbances.