Predefined-time fractional-order terminal SMC for robot dynamics

This study presents an investigation into fractional-order predefined-time terminal sliding mode control (FoPtSMC) for robotic manipulators, particularly focusing on addressing uncertainties and external disturbances. The study introduces a new predefined-time fractional-order SMC method to ensure guaranteed predefined-time convergence and superior tracking performance. This approach also aims to mitigate control input chattering, a common issue in such systems. The Lyapunov analysis is used, and the study establishes the predefined time stability of the proposed closed system. Furthermore, the effectiveness of the proposed FoPtSMC technique is validated through computer simulations applied to a robotic manipulator system.