Fractional-order adaptive sliding mode control for a two-link flexible manipulator

Sibbir Ahmed, Kshetrimayum Lochan, Binoy Krishna Roy

Research output: Chapter in Book/Report/Conference proceedingChapter

1 Citation (Scopus)


This work addresses some robust control strategies for controlling the tip position tracking of a flexible two-link robotic arm manipulator with the consideration that the system is having very less friction and less mechanical vibration at the joints. The flexible two-link flexible manipulator is modelled using Euler-Lagrangian mechanics. Further, a fractional-order modelling is also done for the same system. The parameters of the system are taken from a real-time system. The sliding mode control strategy which is one of the robust control techniques can be made more robust using adaptive sliding mode and fractional-order adaptive sliding mode. The use of an adaptive sliding mode makes the tuning of the control parameters easier with a better response. The simulation results reveal that the adaptive sliding mode strategy is more robust in terms of changes in the initial conditions as well as disturbances to the system.

Original languageEnglish
Title of host publicationAdvances in Intelligent Systems and Computing
PublisherSpringer Verlag
Number of pages21
Publication statusPublished - 2019

Publication series

NameAdvances in Intelligent Systems and Computing
ISSN (Print)2194-5357

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • General Computer Science


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