Trajectory Tracking Control of Euler-Lagrange Systems Using a Fractional Fixed-Time Method

The results of this research provide fixed-time fractional-order control for Euler-Lagrange systems that are subject to external disturbances. The first step in the process of developing a new system involves the introduction of a method known as fractional-order fixed-time non-singular terminal sliding mode control (FoFtNTSM). The advantages of fractional-order calculus and NTSM are brought together in this system, which result in rapid convergence, fixed-time stability, and smooth control inputs. Lyapunov analysis reveals whether the closed-loop system is stable over the duration of the time period specified. The performance of the suggested method when applied to the dynamics of the Euler-Lagrange system is evaluated and demonstrated with the help of computer simulations.

Automated summary

The research provides fixed-time fractional-order control for Euler-Lagrange systems with external disturbances. A new system is developed using the fractional-order fixed-time non-singular terminal sliding mode control (FoFtNTSM) method, which combines the advantages of fractional-order calculus and NTSM to achieve rapid convergence, fixed-time stability, and smooth control inputs. Lyapunov analysis is used to determine the stability of the closed-loop system over a specified time period. Computer simulations demonstrate the performance of the proposed method in the dynamics of the Euler-Lagrange system.