Fractional-Order Terminal Sliding Mode Control 3R Robot

Simulation of the fractional-order terminal sliding mode controller (TSMC) on a 3R robotic arm.

The code performs control implementation for regulation (point-to-point control) of the fractional-order terminal sliding mode control (TSMC) using a time-varying beta function. The robot is a 3R articulated arm with a fixed base. The codes are related to the simulation section of the following article:

Feliu-Talegón, D., Rafee Nekoo, S., Tapia, R., Acosta, J. Á., & Ollero, A., "Practical fractional-order terminal sliding-mode control for a class of continuous-time nonlinear systems," Transactions of the Institute of Measurement and Control, 01423312241286352, 2024.

https://doi.org/10.1177/01423312241286352

https://journals.sagepub.com/doi/full/10.1177/01423312241286352