FRACTIONAL-ORDER TERMINAL SLIDING MODE CONTROL OF DUAL ARM MANIPULATORS

Abstract

On the basis of dynamic model of 2n DOFs dual arm robots considering nonlinear viscoelasticity at joints, we propose an advanced version of sliding mode control for dual arm robots using fractional derivative and terminal Lyapunov stability. The effectiveness and robustness of controller are investigated by utilizing Mittag-Leffler theory and numerical simulation.