Backstepping Sliding Mode Controller Coupled To Adaptive Sliding Mode Observer For Interconnected Fractional Nonlinear System (original) (raw)
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Adaptive Fractional Order Sliding Mode Control for a Nonlinear System
2021 International Conference on Electronic Engineering (ICEEM), 2021
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International Journal of Dynamics and Control, 2020
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An adaptive fractional-order sliding mode control (AFOSMC) is proposed to control a nonlinear fractional-order system. This scheme combines the features of sliding mode control and fractional control for improving the response of nonlinear systems. The structure of AFOSMC includes two units: fractional-order sliding mode control (FOSMC) and the tuning unit that employs a certain Takagi–Sugeno–Kang fuzzy logic system for online adjusting the parameters of FOSMC. Tuning the parameters of the FOSMC improves its performance with various control problems. Moreover, stability analysis of the proposed controller is studied using Lyapunov theorem. Finally, the developed control scheme is introduced for controlling a fractional-order gyroscope system. The proposed AFOSMC is implemented practically using a microcontroller where the test is carried out using the hardware-in-the-loop simulation. The practical results indicate the improvements and enhancements introduced by the developed control...
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ISA Transactions, 2018
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Sliding-Mode Controller Based on Fractional Order Calculus for a Class of Nonlinear Systems
International Journal of Electrical and Computer Engineering (IJECE)
This paper presents a new approach of fractional order sliding mode controllers (FOSMC) for a class of nonlinear systems which have a single input and two outputs (SITO). Firstly, two fractional order sliding surfaces S1 and S2 were proposed with an intermediate variable z transferred from S2 to S1 in order to hierarchy the two sliding surfaces. Secondly, a control law was determined in order to control the two outputs. A sliding control stability condition was obtained by using the properties of the fractional order calculus. Finally, the effectiveness and robustness of the proposed approach were demonstrated by comparing its performance with the one of the conventional sliding mode controller (SMC), which is based on integer order derivatives. Simulation results were provided for the case of controlling an inverted pendulum system.
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IETE Journal of Research, 2019
In this paper, a dynamic backstepping sliding mode controller with a fractional order sliding surface, which has a fuzzy boundary layer, is designed based on high-gain and disturbance observers for controlling the performance of a micro-electro-mechanical triaxial gyroscope. To compensate uncertainties of a system, a combination of sliding mode and robust nonlinear backstepping controller is used. In this design, in order to increase the degree of freedom of the controller, the sliding surface is selected to be of fractional order. in this paper, in order to significantly reduce the chattering phenomenon in the control signal, a new dynamic sliding surface in addition to the initial sliding surface and also fuzzy control theory to controllig the boundary layer are used. In addition, a high-gain observer and a disturbance observer are used to estimate the system states and incoming disturbances to the system. The asymptotic stability of the closed-loop system is proven by Lyapunov stability theorem. In order to evaluate the performance of the designed controller, this controller is compared with other sliding mode controllers. Simulation results show that the proposed controller has much less chattering phenomenon in control signal, increasing system stability, reducing the rise time and better tracking.
2019
In this paper, a dynamic sliding mode controller with fractional order sliding surface based on backstepping algorithm is designed and presented for controlling performance of a micro-electro-mechanical triaxial gyroscope. To compensate uncertainties and incoming disturbances to the system, a sliding mode controller is used. In order to increase the degree of freedom and further robustness of the controller, the sliding surface is selected as fractional order form. Using dynamic sliding mode controller in addition to the increasing the performance of controller, cause to reduce the chattering phenomenon in the input control signal. Using the backstepping approach as a very powerful design tool for nonlinear systems, makes the designed controller more robust against incoming disturbances to the system. Asymptotic stability of the closed loop system will be proven by Lyapunov stability theorem. At the end of the design, in order to efficacious reduce the chattering phenomenon in the c...
International Journal of Robust and Nonlinear Control, 2010
Sliding mode control approaches are developed to stabilize a class of linear uncertain fractional-order dynamics. After making a suitable transformation that simplifies the sliding manifold design, two sliding mode control schemes are presented. The first one is based on the conventional discontinuous first-order sliding mode control technique. The second scheme is based on the chattering-free second-order sliding mode approach that leads to the same robust performance but using a continuous control action. Simple controller tuning formulas are constructively developed along the paper by Lyapunov analysis. The simulation results confirm the expected performance.