Robust Fractional Order Sliding Mode Control against Parameter Variations with Application to SCARA Manipulator Robots

This paper investigates the application of Fractional Order Sliding Mode Control (FO–SMC) for achieving robust motion trajectory regulation in dynamic robot systems operating under parameter uncertainties, including conditions of charge variation and overload. The proposed control strategy leverages fractional calculus to upgrade the robustness and performance of the control framework. A thorough analysis using Lyapunov’s method is carried out to validate the asymptotic stability of the feedback control system. The analysis demonstrates that the proposed FO–SMC controller ensures that the tracking errors approach zero, even when faced with inherent uncertainties and disturbances in dynamic robotic environments. Simulation results demonstrate the efficacy of the suggested method in achieving precise trajectory tracking and robust performances, particularly under challenging operational conditions such as varying charge levels and overload scenarios.