Fractional Order Sliding Mode Control with Fuzzy Parameter Tuning Applied to a SCARA Robot

This paper presents the application of Fractional Order Sliding Mode Control (FO-SMC) in order to achieve a robust motion trajectory regulation in dynamic robot systems. The proposed control strategy benefits of both advantages of fractional calculus and sliding mode control to upgrade the robustness and the performances of the controller. Moreover, the paper proposes to use a fuzzy tuning of sliding mode controller in order to satisfy the capabilities of the actuators. The stability of the closed loop system has been demonstrated using the Lyapunov theory. Simulation results demonstrate the efficiency of the proposed method achieving precise trajectory tracking and robust performances, it has been shown that fuzzy tuning of the sliding function parameters significantly reduces control variable peaks, making the control more suitable for actuator application.