A Chattering-free Fractional PDalpha Sliding-mode Control of a 3-DOF Robot System Driven by DC motors

Abstract

This paper proposes a robust fractional-order sliding mode control of a 3-DOF robot system driven by DC motors. Primarily, a conventional sliding mode controller based on PDalpha sliding surface is designed. Numerical simulations have been carried out to show the proposed control system's robustness properties as well as compare the significance of the proposed control which resulted in reducing output oscillations (chattering-free) of the given robot. Simulations also include comparison fractional-order PD sliding mode controller with standard PD sliding-mode controller.