PD FAST FRACTIONAL TERMINAL SLIDING MODE CONTROL FOR TRAJECTORY TRACKING
Publication Date : 12/09/2021
This study describes a noble design of a sliding mode controller for a fast fractional terminal sliding mode to handle the speed and position of a 2-Dof robot. The sliding surfaces utilized in the study used a PD controller in a commonly used TSMC to identify discrepancies that were highly influenced by the Coriolis effect. The new control law benefits from the simplicity and ease of construction of PD control as well as the resilience of TSMC to model uncertainty and parameter variation.
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