S. Ahmed - College of Computer and Information Sciences, Prince Sultan University, Riyadh, Saudi Arabia. - Automated Systems and Computing Lab (ASCL), Prince Sultan University, Riyadh, Saudi Arabia. A. T. Azar - College of Computer and Information Sciences, Prince Sultan University, Riyadh, Saudi Arabia. - Automated Systems and Computing Lab (ASCL), Prince Sultan University, Riyadh, Saudi Arabia. W. El-Shafai - College of Computer and Information Sciences, Prince Sultan University, Riyadh, Saudi Arabia. - Automated Systems and Computing Lab (ASCL), Prince Sultan University, Riyadh, Saudi Arabia. - Department of Electronics and Electrical Communications Engineering, Faculty of Electronic Engineering, Menoufia University, Menouf, 32952, Egypt.
This study explores adaptive predefined-time fractional-order proportional-derivative terminal sliding mode control (APtFoSMC) for robotic manipulators dealing with uncertainties and external disturbances. We introduce a new predefined-time proportional-derivative FoSMC control method that uses proportional-derivative control to ensure guaranteed predefined-time convergence and superior tracking performance. This approach also helps to reduce control input chattering, which is a common issue. The APtFoSMC is designed not to require previous knowledge of the boundaries of the uncertain system dynamics it estimates. Applying the Lyapunov theorem establishes the predefined-time stability of the suggested closed-loop system. We then use computer simulations on a PUMA 560 robotic manipulator system to validate the effectiveness of the suggested APtFoSMC approach.
S. Ahmed, A. T. Azar, W. El-Shafai, Adaptive predefined-time fractional terminal sliding mode control for robotic dynamic systems, Journal of Mathematics and Computer Science, 41 (2026), no. 4, 550--563
Ahmed S., Azar A. T., El-Shafai W., Adaptive predefined-time fractional terminal sliding mode control for robotic dynamic systems. J Math Comput SCI-JM. (2026); 41(4):550--563
Ahmed, S., Azar, A. T., El-Shafai, W.. "Adaptive predefined-time fractional terminal sliding mode control for robotic dynamic systems." Journal of Mathematics and Computer Science, 41, no. 4 (2026): 550--563
