Fractional Non-Singular Fast Terminal Sliding Mode Control Based on Disturbance Observer

Xin Zhang, Ying Quan
2022 International Journal of Innovative Computing, Information and Control  
In order to achieve high-precision tracking control of the manipulator control system, a fractional non-singular fast terminal sliding mode control method based on the disturbance observer is proposed. Firstly, a fractional non-singular fast terminal sliding mode surface is designed according to the theory of fractional calculus to achieve rapid convergence of the trajectory tracking error of the manipulator and improve the tracking performance of the controller; then, the super twisting
more » ... hm is introduced into the sliding mode reaching law and the hyperbolic tangent function reduces the chattering of the control input; and the nonlinear disturbance observer is used to accurately estimate the compound uncertainty disturbance to realize the compensation of the controller; finally, the Lyapunov stability theory is used to prove the stability of the system. Finally, a simulation experiment is carried out with a two-joint manipulator as the research object, and the results verify the effectiveness and robustness of the designed controller.
doi:10.24507/ijicic.18.01.93 fatcat:nphjwnvkqfgw5o5teikobhxnoa