Observer-based Sliding Mode Control of Non-commensurate Fractional-Order Flexible Manipulator Against Actuator Attack

This article addresses the sliding mode secure control problem for fractional-order flexible manipulator subject to actuator attack. By designing a fractional-order super-twisting sliding mode extended state observer (FOSTSM-ESO), a sliding mode control scheme based on the estimated system states and unknown actuator attack is proposed. The system stability is analyzed based on the fractional Lyapunov function. Numerical simulations are finally provided to demonstrate the validity of the proposed secure control method.