Research on Application Characteristics of Fractional Calculus in Sliding Mode Control of Robotic Arm

摘要：

　　An effective fractional order sliding mode control method is proposed for the nonlinear and uncertain robotic arm system. In the design process of the controller, fractional calculus is introduced into the sliding mode control by using fractional order reaching law and fractional order sliding mode control law respectively. The stability of the system is proved by Lyapunov theory, and the simulation is carried out by MATLAB. The results show that the proposed control strategy can effectively improve the tracking speed and tracking accuracy of the joints, and the controller has good effectiveness and strong robustness.

关键词： robotic arm fractional calculus fractional order reaching law sliding mode control Lyapunov theory Introduction

作者: Min Liu Mingyue Ma Jingjing Xing

作者单位: Mechatronic Engineering Department Lanzhou Vocational Technical College, Lanzhou, China

会议类型: 国际会议

会议名称: 2019 6th International Conference on Machinery, Mechanics, Materials and Computer Engineering (MMMCE 2019)(2019 第六届机械、材料和计算机工程国际会议)

会议地点: 呼和浩特

会议语种:英文

页码: 728-733

在线出版日期: 2019-07-27（万方平台首次上网日期，不代表论文的发表时间）