@inproceedings{a29a3cb16a584858b090ee77a58e5ac1,
title = "Tracking Control of Robotic Manipulators Using Fractional-Order Sliding-Mode with Adaptive Gain",
abstract = "This paper proposes a tracking control strategy of robotic manipulators using fractional-order sliding-mode with adaptive gain. The design methods of terminal sliding-mode and fractional-order terminal sliding-mode controllers are developed to implement the high-precision tracking control of rigid robotic manipulators. The control signals in the proposed controller are continuous. The chattering is attenuated and singularity is avoided by fractional-order terminal sliding-manifold. The control gain is adaptive to compensate the uncertainties in the control matrix of rigid robotic manipulators. Simulation results validate the proposed methods.",
keywords = "Fractional-order terminal sliding-mode, adaptive control, nonlinear control systems, robotic manipulators",
author = "Minghao Zhou and Siwei Cheng and William Cai and Long Xu and Ying Chi and Lei Chen",
note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 9th IEEE International Power Electronics and Motion Control Conference, IPEMC 2020 ECCE Asia ; Conference date: 29-11-2020 Through 02-12-2020",
year = "2020",
month = nov,
day = "29",
doi = "10.1109/IPEMC-ECCEAsia48364.2020.9367700",
language = "English",
series = "2020 IEEE 9th International Power Electronics and Motion Control Conference, IPEMC 2020 ECCE Asia",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "588--593",
booktitle = "2020 IEEE 9th International Power Electronics and Motion Control Conference, IPEMC 2020 ECCE Asia",
address = "United States",
}