Tracking Fractional Power Rate sliding mode control for a 4DOF manipulator robot

Abstract

This study presents a control strategy combining fractional calculus and the power rate sliding control theory for a manipulator robot with Four Degrees of Freedom (4-DOF). The suggested Fractional Power Rate Sliding Mode Control (FPRSMC) aims to track both joint space and workspace desired trajectories. The enhancements to the sliding mode control include applying fractional calculus to the control law’s sliding surface to improve the power law reaching mode. Experimental evaluation of the suggested control method is performed on a MICO 4-DOF manipulator robot, and it is contrasted with an Improved Power Rate Sliding Mode Control (IPRSMC) optimized with Particle Swarm optimization (PSO) to demonstrate its efficiency and performance. The closed-loop system’s stability is also proven by applying the Lyapunov theory. The findings show that the suggested control achieves better tracking performance than the optimized improved power rate sliding controller.