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Research on Fractional Sliding Mode Synchronous Control of Robotic ARMS under Uncertain Disturbance

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Abstract

In order to improve the synchronization control accuracy of robotic arms under uncertain disturbances, this paper first introduces a virtual principal axis to improve the cumulative error effect caused by synchronization errors. The theory of fractional calculus and sliding mode control is combined with this paper studies and analyzes the fractional-order sliding mode control method, and then introduces the fractional-order sliding mode control method in the cross-coupling control to design the synchronous controller, and proves it using Lyapunov’s theory to ensure progressive stability. Finally, under the two conditions of periodic disturbance and non-periodic disturbance, the proposed method is simulated and verified by using the two-joint robotic arm as the controlled object. The simulation test results show that the proposed control method has faster response speed and Synchronization accuracy, synchronization controller has strong robustness.

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Authors and Affiliations

  1. School of Automation and Electrical Engineering of Lanzhou Jiaotong University, 730070, Lanzhou, China

    Zhang Xin, Zhang Jing, Lu Wenru & Xu Wenbo

  2. Gansu Provincial Engineering Research Center for Artificial Intelligence and Graphics and Image Processing, 730070, Lanzhou, China

    Zhang Xin

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  1. Zhang Xin
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  2. Zhang Jing
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  3. Lu Wenru
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  4. Xu Wenbo
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Correspondence to Zhang Xin.

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Zhang Xin, Jing, Z., Wenru, L. et al. Research on Fractional Sliding Mode Synchronous Control of Robotic ARMS under Uncertain Disturbance. Aut. Control Comp. Sci. 55, 26–37 (2021). https://doi.org/10.3103/S0146411621010107

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  • DOI: https://doi.org/10.3103/S0146411621010107

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