This study investigates a new fractional-order nonsingular terminal sliding mode control (FTSMC) leveraging a finite-time extended state observer, a simpler prescribed control, and hybrid grey wolf optimization (GWO) combined with whale optimization algorithm (WOA) for manipulator systems. The new FTSMC system is based on an improved fractional-order terminal sliding surface. Initially, the study experimentally optimizes the dynamic parameters and gains of the controller and the observer with the help of the newly developed GWO-WOA technique. As the next step, the uncertainties including optimization error and external disturbances are estimated by the finite-time extended state observer designed using the sliding mode dynamics. Experimental results of GWO-WOA optimization and joint position tracking for a self-designed articulated manipulator prove the efficacy of the proposed control scheme.

中文翻译：

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使用灰狼和鲸鱼优化算法的机械臂系统的分数阶滑模约束控制

本研究研究了一种新的分数阶非奇异终端滑模控制 (FTSMC)，它利用有限时间扩展状态观察器、更简单的规定控制以及混合灰狼优化 (GWO) 与鲸鱼优化算法 (WOA) 相结合，用于机械手系统。新的 FTSMC 系统基于改进的分数阶终端滑动面。最初，该研究在新开发的 GWO-WOA 技术的帮助下，通过实验优化了控制器和观测器的动态参数和增益。下一步，包括优化误差和外部干扰在内的不确定性通过使用滑模动力学设计的有限时间扩展状态观测器进行估计。