Robust Fractional Order Sliding Mode Control of Single Link Flexible Joint Manipulator

Robust Fractional Order Sliding Mode Control of Single Link Flexible Joint Manipulator

Single link flexible manipulator is a highly nonlinear system including variation and uncertainties in the parameters. It is difficult task to design an ideal controller for this system. In this paper, a novel robust controller named optimal fractional order sliding mode controller (OFSMC) is proposed for position and trajectory control. A fractional order sliding surface is introduced, then robust control law is obtained. The novel aspect of the proposed approach, is that the proposed controller does not need any knowledge of bounds of uncertainties, the lumped uncertainty is estimated using the socalled inertial delay control (IDC). To improve performance of the control system, particle swarm optimization (PSO) is used to optimize the control design parameters. Simulation results demonstrate effectiveness of the proposed method.