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

Abstract

<abstract><p>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.</p></abstract>