Adaptive Fractional-Order Sliding Mode Control for Admittance-Based Telerobotic System With Optimized Order and Force Estimation

This article proposes a variable structure control with neural network and optimized fractional-order selection policy for the sensorless telerobotic system with uncertain time delay, model uncertainty, fractional calculus numerical approximation bias, and external disturbance. Expanded from the integer-order calculus based on the definition of Caputo and the comparison principle, the Riemann–Liouville-based uniformly ultimately bounded stability is introduced to synthesize the sliding mode control with varying order, and the corresponding neural network based force estimation, which is optimized by the specified order based on the greed algorithm. Combined with the mixed-type error, the proposed hybrid integer-order and fractional-order analysis methodology is capable of guaranteeing the Riemann–Liouville-based uniformly ultimately bounded stability of tracking and synchronization errors under time delay. According to Euler difference, the proposed synthesis method can suppress the combined error in the boundedness of approximating double Euler difference errors. Numerical simulation and experiment of the telerobotic system under the control of the proposed method verify the stability analyses.