Intelligent Neural Integral Sliding-mode Controller for a space robotic manipulator mounted on a free-floating satellite.

In this paper, a fractional neural integral sliding-mode controller based on the Caputo-Fabrizio derivative and Riemann–Liouville integral for a robot manipulator mounted on a free-floating satellite is proposed and developed. The mathematical model is obtained by using the Euler–Lagrange formalism and generalized through the Caputo-Fabrizio derivative. The conventional neural integral sliding-mode controller reported in the literature were also developed to make a comparative analysis between both controllers. The controllers are tuned using a swarm intelligence algorithm. External disturbances are also considered. Simulation results show the superiority and robustness of the proposed control system for trajectory tracking tasks through the root-mean-square error. Additionally, two additional reference trajectories were considered. In this sense, the numerical simulations were done by using the same orders and gains, showing the robustness of our fractional-order control strategy under different operating conditions. Further, the proposed controller uses the fractional derivative in the sense of Caputo-Fabrizio which has not been used enough in the area of robotics, so this is a start to analyse the contributions that arise when using said derivative in this robotic. [ABSTRACT FROM AUTHOR]