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(2015)FRACTIONAL CALCULUS AND APPLIED ANALYSIS.18(6).p.1441-1451 Mark abstract In this paper, a sliding mode control strategy is discussed for a class of nonlinear mechanical sub-systems with varying trajectory dynamics. The proposed class of sub-systems are represented in this simulation example by a two link robot actuator/manipulator. The fractional order is introduced in the setpoint definition as to represent changes in the desired trajectory of this sub-system. Furthermore, the same order is used to adapt the control law to the new dynamics. Uncertainties are introduced in the model used for the control law, hence robustness is intrinsic.

Please use this url to cite or link to this publication: http://hdl.handle.net/1854/LU-7025137



Author: Clara-Mihaela Ionescu and Cristina Muresan

Source: https://biblio.ugent.be/publication/7025137



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