Time-Delay Control for Trajectory Tracking of a Delta Robot with Fractional-Order Nonsingular Sliding Mode

In this paper, a time-delay control with fractional-order nonsingular sliding mode is designed to improve trajectory tracking accuracy of parallel robots. The controller is based on a model-free approach thanks to the time-delay control, and incorporates a fractional-order sliding mode to ensure high control performance. The proposed method guarantees system stability, as proven by Lyapunov’s stability theorem. Simulation tests carried out on a Delta robot exhibits that the proposed controller (TDC-FOSM) outperforms conventional controllers based on integer-order, particularly by improving disturbance suppression performance.