Background:
A novel type of control strategy is presented for control of chaotic systems particularly a chaotic
robot in joint and workspace which is the result of applying fractional calculus to dynamic sliding mode control.
Objectives:
To guarantee the sliding mode condition, control law is introduced based on the Lyapunov stability theory.
Methods:
A control scheme is proposed for reducing the chattering problem in finite time tracking and robust in presence
of system matched disturbances.
Conclusion:
Also, all of chaotic robot's qualitative and quantitative characteristics have been investigated. Numerical
simulations indicate viability of our control method.
Results:
Qualitative and quantitative characteristics of the chaotic robot are all proven to be viable thru simulations.
