Model-free scheme using time delay estimation with fixed-time FSMC for the nonlinear robot dynamics

Saim Ahmed; Ahmad Taher Azar; Ibraheem Kasim Ibraheem; Saim Ahmed; Ahmad Taher Azar; Ibraheem Kasim Ibraheem

doi:10.3934/math.2024489

AIMS Mathematics

2024, Volume 9, Issue 4: 9989-10009. doi: 10.3934/math.2024489

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Model-free scheme using time delay estimation with fixed-time FSMC for the nonlinear robot dynamics

1.
College of Computer and Information Sciences, Prince Sultan University, Riyadh 11586, Saudi Arabia; Emails: ahmad_t_azar@ieee.org, aazar@psu.edu.sa
2.
Automated Systems and Soft Computing Lab (ASSCL), Prince Sultan University, Riyadh 11586, Saudi Arabia
3.
Faculty of Computers and Artificial Intelligence, Benha University, Benha 13518, Egypt; Email: ahmad.azar@fci.bu.edu.eg
4.
Department of Electrical Engineering, College of Engineering, University of Baghdad, Baghdad 10001, Iraq; Email: ibraheemki@coeng.uobaghdad.edu.iq
5.
Department of Electronics and Communication Engineering, Uruk University, Baghdad 10001, Iraq

Received: 04 January 2024 Revised: 15 February 2024 Accepted: 04 March 2024 Published: 13 March 2024
MSC : 93C10, 93C40, 93D09, 93D21, 93B52

This paper presents a scheme of time-delay estimation (TDE) for unknown nonlinear robotic systems with uncertainty and external disturbances that utilizes fractional-order fixed-time sliding mode control (TDEFxFSMC). First, a detailed explanation and design concept of fractional-order fixed-time sliding mode control (FxFSMC) are provided. High performance tracking positions, non-chatter control inputs, and nonsingular fixed-time control are all realized with the FxSMC method. The proposed approach performs better and obtains superior performance when FxSMC is paired with fractional-order control. Furthermore, a TDE scheme is included in the suggested strategy to estimate the unknown nonlinear dynamics. Afterward, the suggested system's capacity to reach stability in fixed time is determined by using Lyapunov analyses. By showing the outcomes of the proposed technique applied to nonlinear robot dynamics, the efficacy of the recommended method is assessed, illustrated, and compared with the existing control scheme.
- time delay estimation,
- fractional-order control,
- fixed-time sliding mode control,
- nonlinear robotic system
Citation: Saim Ahmed, Ahmad Taher Azar, Ibraheem Kasim Ibraheem. Model-free scheme using time delay estimation with fixed-time FSMC for the nonlinear robot dynamics[J]. AIMS Mathematics, 2024, 9(4): 9989-10009. doi: 10.3934/math.2024489

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Abstract

This paper presents a scheme of time-delay estimation (TDE) for unknown nonlinear robotic systems with uncertainty and external disturbances that utilizes fractional-order fixed-time sliding mode control (TDEFxFSMC). First, a detailed explanation and design concept of fractional-order fixed-time sliding mode control (FxFSMC) are provided. High performance tracking positions, non-chatter control inputs, and nonsingular fixed-time control are all realized with the FxSMC method. The proposed approach performs better and obtains superior performance when FxSMC is paired with fractional-order control. Furthermore, a TDE scheme is included in the suggested strategy to estimate the unknown nonlinear dynamics. Afterward, the suggested system's capacity to reach stability in fixed time is determined by using Lyapunov analyses. By showing the outcomes of the proposed technique applied to nonlinear robot dynamics, the efficacy of the recommended method is assessed, illustrated, and compared with the existing control scheme.

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