Fractional order chattering-free robust adaptive backstepping control technique

Wei, Yiheng; Sheng, Dian; Chen, Yuquan; Wang, Yong

doi:10.1007/s11071-018-4698-8

Cited by 30 publications

(13 citation statements)

References 31 publications

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“…In [21], fuzzy backstepping control of fractional-order systems is addressed, and the saturation phenomenon in fractional systems was also studied. In [22], to avoid the chattering phenomenon in the traditional backstepping control, a novel control method was developed. Some recent works can be referred to [23][24][25][26][27][28] and the references therein.…”

Section: Introductionmentioning

confidence: 99%

Neural Network Backstepping Controller Design for Fractional-Order Nonlinear Systems

Chen

Wang

2021

Complexity

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In this work, a backstepping controller design for fractional-order strict feedback systems is investigated and the neural network control method is used. It is noted that in the standard backstepping design, the fractional derivative of the virtual quantity needs to be calculated repeatedly, which will lead to a sharp increase in the number of controller terms with the increase of the system dimension and finally make the control system difficult to bear. To handle the estimation error, certain robust terms in the controller at the last step are designed. The stability of the controlled system is proven strictly. In addition, the proposed controller has a simple form which can be easily implemented. Finally, in order to verify our theoretical method, the control simulation based on a fractional-order chaotic system is implemented.

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Section: Introductionmentioning

confidence: 99%

Neural Network Backstepping Controller Design for Fractional-Order Nonlinear Systems

Chen

Wang

2021

Complexity

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“…Nonetheless, these papers did not account for the uncertainties and external disturbances. An adaptive The associate editor coordinating the review of this manuscript and approving it for publication was Shihong Ding . backstepping controller was used to addressed the uncertainties [16]- [18]. However, adaptive control methods are limited to systems with constant or slow time varying disturbances.…”

Section: Introductionmentioning

confidence: 99%

Robust Adaptive Multilevel Control of a Quadrotor

Mahmoud

Maaruf

2020

IEEE Access

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This study proposes a new multilevel control of a quadrotor with dynamic uncertainties and time-varying external disturbances. The quadrotor model is partitioned into three subsystems: the vertical position, the horizontal position and the rotational subsystems. First, a double loop integral fast terminal sliding mode control with an adaptive estimator for disturbances' upper-bounds (ADIFTSMC) is proposed for the altitude subsystem to ensure that the quadrotor reaches the desired height. Secondly, a radial basis function neural network backstepping controller (RBFNNBC) is applied to the horizontal subsystem. Finally, by combining a finite time exact disturbance observer with backstepping nonsingular fast terminal sliding mode control (FDOBNFTSMC), the rotational angles converge to the reference angles in the presence of the time-varying disturbances. Furthermore, a Lyapunov stability analysis is used to prove that the tracking errors converge to a small neighborhood of the origin. Numerical simulations illustrate the feasibility of the compound control structure.

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“…As we become more demanding on model accuracy and control performance, FOS theory and fractional‐order controller design have developed rapidly in recent years. In terms of control schemes for FOSs, many schemes are proposed to deal with the internal or external disturbance, among them, fractional‐order proportion integration differentiation (PID) and CRONE have been widely used, but both schemes have limitation. Han proposed active disturbance rejection control (ADRC) in 1998, comparing to other control schemes, ADRC has outstanding advantages in dealing with robust control of uncertain systems with large‐scale and complex structures .…”

Section: Introductionmentioning

confidence: 99%

Differential flatness‐based ADRC scheme for underactuated fractional‐order systems

Wei

Zhou

et al. 2020

Intl J Robust & Nonlinear

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This article mainly studies the fractional-order active disturbance rejection control (FOADRC) schemes for the underactuated commensurate fractional-order systems (FOSs). The FOADRC framework for linear FOSs-based fractional proportion integration differentiation is constructed by using the fractional-order tracking differentiator and the fractional-order extended state observer, and the necessary conditions for the system to have stable controllers are provided. The FOADRC scheme for underactuated FOSs based on differential flatness is proposed. For underactuated FOSs, a set of flat output expressions with a fixed format is given under the controllable condition of the system. Moreover, making the flat output as the equivalent of the system output is simple and easy to analyze and calculate. Subsequently, the FOADRC scheme is designed by using the flat output. Finally, the scheme proposed in this article is verified by a simulation example.

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Fractional order chattering-free robust adaptive backstepping control technique

Cited by 30 publications

References 31 publications

Neural Network Backstepping Controller Design for Fractional-Order Nonlinear Systems

Neural Network Backstepping Controller Design for Fractional-Order Nonlinear Systems

Robust Adaptive Multilevel Control of a Quadrotor

Differential flatness‐based ADRC scheme for underactuated fractional‐order systems

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