Chattering-Free Fractional-Order Terminal Sliding Mode Control of High-Branch Pruning Manipulator Based on Neural Network

The positioning process of the high-branch pruning manipulator is prone to vibration. Aiming at the above jitter problem, this paper proposes a chattering-free fractional-order terminal sliding mode control strategy based on neural network. Neural network control can reduce the gain of the switch and further reduce chattering. The singularity problem is solved by not differentiating the exponential term. The simulation results show that the proposed control strategy can better eliminate the chattering and is more stable than the existing control strategy.