Fault-Tolerant Control of Multi-Joint Robot Based on Fractional-Order Sliding Mode

In this paper, the problem of fault-tolerant control actuators for multi-joint robots is studied. Aiming at jitter in design law conventional sliding mode controllers (SMC), a controller method based on fractional-order (FSMC) theory proposed. At first, mathematical model robot established and surface constructed according to model. Then, robust designed Lyapunov function. Finally, experiments are carried out. Compared with control, experimental results show that more stable under mode, it can achieve almost no while tracking reference. The steady-state error joint1 joint2 could reach 0.073 radians SMC, 0.015 FSMC. data indicate fluctuation amplitude FSMC five times smaller than SMC end part actuator gain faults. regulation time about 0.11 s around 0.04 reduced one three or four. These effectiveness proposed paper.