FRACTIONAL ORDER SLIDING MODE CONTROL FOR PLANAR FLEXIBLE-JOINT ROBOT 2-DOF CONSIDERING PARAMETRIC UNCERTAINTY

Abstract

This paper presents modeling and control for planar flexible-joint 2-DOF, an
underactuated system. Thus designing to obtain stability of actuated joint and
underactuated is a challenge of a control system. Therefore, a fractional order
sliding mode control based on Lyapunov theory and fractional calculus is
proposed for the robot to achieve global stability of two joints. The effectiveness
and feasibility of the proposed method are demonstrated by Matlab/Simulink
simulation that the robot model considering parametric uncertainty.