Fractional order modeling and control of a flexible manipulator using sliding modes

The paper proposes design and implementation of fractional order sliding mode control (FOSMC) for a fractional order model of a single link flexible manipulator (SFLM). Novelty of the paper lies in modeling the plant with fractional order dynamics in non-commensurate order. This model is validated through experimentation. In this study, a fractional order sliding surface is introduced to SLFM which is a typical nonlinear under actuated system. The stability of the fractional order sliding mode controller is proved. The performance and robustness of the proposed method are tested for parametric uncertainties and external disturbances. The efficacy of the method is illustrated using MATLAB Simulink.