Robust Adaptive Fractional-Order Backstepping Sliding Mode Control of Uncertain Continuum Robot

摘要

Due to the complex and flexible structure of the continuum robots, previous works have been concentrated on the kinematic based analysis and control of these type of robots. In this study, for the first time, using the fractional calculations, the control of continuum manipulators with dynamic approach is presented. A fractional sliding surface with finite-time convergence property is designed. An adaptive fractional-order controller based on backstepping sliding mode approach is designed. The effects of parameter uncertainties are compensated using adaptive manner. Stability analysis is done using Lyapunov theorem, and adaptive tuning laws for upper bound parameters ensures the asymptotic stability of the robotic system. Numerical simulations demonstrated that our proposed control scheme is effective.