This paper presents an advanced control strategy based on Fractional-Order Sliding Mode Control (FO-SMC), which introduces a robust solution to significantly improve the reliability of robotic manipulator systems and increase its control performance. The proposed FO-SMC strategy includes a two-key term-based Fractional Sliding Function (FSF) that presents the main contribution of this work. Additionally, a fractional-order-based Lyapunov stability analysis is developed for a class of nonlinear systems to guarantee the asymptotic stability of the closed loop system. Four FSF-based versions of the designed FO-SMC are studied and discussed. Various scenarios of the proposed control strategy are tested on a 3-degree-of-freedom SCARA robotic arm and compared to recent FO-SMC works, demonstrating the effectiveness of the new proposed control strategy to (i) ensure the asymptotic stability, (ii) achieve a smooth start-up, (iii) cancel the static error, giving a good tracking trajectory, and (iv) reduce the control torques, yielding a consumed energy minimization.

本文提出了一种基于分数阶滑模控制（FO-SMC）的先进控制策略，该策略引入了一种鲁棒的解决方案，可以显着提高机器人机械手系统的可靠性并提高其控制性能。提出的 FO-SMC 策略包括一个基于两个关键项的分数滑动函数（FSF），它代表了这项工作的主要贡献。此外，针对一类非线性系统，提出了基于分数阶的Lyapunov稳定性分析，以保证闭环系统的渐近稳定性。研究和讨论了所设计的 FO-SMC 的四种基于 FSF 的版本。所提出的控制策略的各种场景在 3 自由度 SCARA 机械臂上进行了测试，并与最近的 FO-SMC 工作进行了比较，证明了新提出的控制策略的有效性：(i) 确保渐近稳定性，(ii) ）实现平稳启动，（iii）消除静态误差，提供良好的跟踪轨迹，（iv）减少控制扭矩，实现能耗最小化。