Fractional-Order Adaptive Sliding Mode Control for a Two-Link Flexible Manipulator

  • Sibbir AhmedEmail author
  • Kshetrimayum Lochan
  • Binoy Krishna Roy
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 757)


This work addresses some robust control strategies for controlling the tip position tracking of a flexible two-link robotic arm manipulator with the consideration that the system is having very less friction and less mechanical vibration at the joints. The flexible two-link flexible manipulator is modelled using Euler-Lagrangian mechanics. Further, a fractional-order modelling is also done for the same system. The parameters of the system are taken from a real-time system. The sliding mode control strategy which is one of the robust control techniques can be made more robust using adaptive sliding mode and fractional-order adaptive sliding mode. The use of an adaptive sliding mode makes the tuning of the control parameters easier with a better response. The simulation results reveal that the adaptive sliding mode strategy is more robust in terms of changes in the initial conditions as well as disturbances to the system.


Adaptive sliding mode control Fractional-order Sliding mode control Two-link flexible manipulator 


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Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  • Sibbir Ahmed
    • 1
    Email author
  • Kshetrimayum Lochan
    • 1
  • Binoy Krishna Roy
    • 1
  1. 1.National Institute of Technology SilcharSilcharIndia

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