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ON THE ASYMPTOTIC STABILITY OF A NEW FRACTIONAL-ORDER SLIDING MODE CONTROL WITH APPLICATION TO ROBOTIC SYSTEMS

Department of Electrical and Computer Engineering, College of Engineering King Abdulaziz University, Jeddah 22254, Saudi Arabia

E-mail Address: fabdelhedi@kau.edu.sa

Corresponding author.

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RIM JALLOULI KHLIF

https://orcid.org/0000-0001-9224-6611

Higher Institute of Computer Science and Multimedia of Sfax, University of Sfax, Tunisia

E-mail Address: rim.jalloulikhlif@isims.usf.tn

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AHMED SAID NOURI

https://orcid.org/0000-0002-8102-0569

Research Laboratory of Numerical Control of Industrial Processes, National Engineering School of Gabes, University of Gabes, Tunisia

E-mail Address: ahmed-said.nouri@enis.tn

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, and

NABIL DERBEL

https://orcid.org/0000-0002-2875-562X

Control and Energy Management Laboratory (CEM-Lab), National Engineering School of Sfax, University of SFax, Tunisia

E-mail Address: nabil.derbel@enis.tn

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https://doi.org/10.1142/S0218348X24500312Cited by:2 (Source: Crossref)

Abstract

This paper presents an advanced control strategy based on Fractional-Order Sliding Mode Control (FO-SMC), which introduces a robust solution to significantly improve the reliability of robotic manipulator systems and increase its control performance. The proposed FO-SMC strategy includes a two-key term-based Fractional Sliding Function (FSF) that presents the main contribution of this work. Additionally, a fractional-order-based Lyapunov stability analysis is developed for a class of nonlinear systems to guarantee the asymptotic stability of the closed loop system. Four FSF-based versions of the designed FO-SMC are studied and discussed. Various scenarios of the proposed control strategy are tested on a 3-degree-of-freedom SCARA robotic arm and compared to recent FO-SMC works, demonstrating the effectiveness of the new proposed control strategy to (i) ensure the asymptotic stability, (ii) achieve a smooth start-up, (iii) cancel the static error, giving a good tracking trajectory, and (iv) reduce the control torques, yielding a consumed energy minimization.

Keywords:

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