Title : ( Dynamic Sliding Mode Control Based on Fractional Calculus Subject to Uncertain Delay Based Chaotic Pneumatic Robot )
Authors: Sara Gholipour , Heydar Toossian Shandiz , Sara Alizadeh , Mobin Alizadeh , Syed Javad Kazemitabar ,
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Abstract
This paper considers the chattering problem of sliding mode control in the presence of delay in robot manipulator causing chaos in such electromechanical systems. Fractional calculus was used in order to produce a novel sliding mode to eliminate chatter. To realize the control of a class of chaotic systems in master-slave configuration, a novel fractional dynamic sliding mode control scheme is presented and examined on the delay based chaotic robot. Also, the stability of the closed-loop system is guaranteed by Lyapunov stability theory. Moreover, delayed robot motions are sorted out for qualitative and quantitative study. Finally, numerical simulations illustrate feasibility of the proposed control method.
Keywords
, Bifurcation diagram, chaotic robot system, fractional dynamic sliding mode, lyapunov exponent, poincaré map, time delay.
@article{paperid:1105108,
author = {سارا قلیپور and Toossian Shandiz, Heydar and سارا علیزاده and مبین علیزاده and سید جواد کاظمیتبار},
title = {Dynamic Sliding Mode Control Based on Fractional Calculus Subject to Uncertain Delay Based Chaotic Pneumatic Robot},
journal = {International Journal of Sensors, Wireless Communications and Control},
year = {2020},
volume = {10},
number = {3},
month = {November},
issn = {2210-3279},
pages = {413--420},
numpages = {7},
keywords = {Bifurcation diagram; chaotic robot system; fractional dynamic sliding mode; lyapunov exponent; poincaré map; time delay.},
}
%0 Journal Article
%T Dynamic Sliding Mode Control Based on Fractional Calculus Subject to Uncertain Delay Based Chaotic Pneumatic Robot
%A سارا قلیپور
%A Toossian Shandiz, Heydar
%A سارا علیزاده
%A مبین علیزاده
%A سید جواد کاظمیتبار
%J International Journal of Sensors, Wireless Communications and Control
%@ 2210-3279
%D 2020
