Fractional-order sliding mode position tracking control for servo system with disturbance

Zhu, Peikun; Chen, Yong; Li, Meng; Zhang, Peng; Wan, Zhi

doi:10.1016/j.isatra.2020.05.032

Cited by 24 publications

(14 citation statements)

References 26 publications

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“…8–10 There exist various application areas in industry where fractional system identification and control methods are employed. These can be listed as solar furnace systems, 11 heat flow systems, 12 liquid-level processes, 13 magnetic levitation systems, 14 servo systems, 15 and so on. These system dynamics might generally be represented by single fractional-order pole system model.…”

Section: Introductionmentioning

confidence: 99%

Reduced inverse integer-order controller design for a class of fractional-order model: Case study on two-tank liquid-level process

Yumuk

Güzelkaya

Eksin

2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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In this study, a reduced inverse integer-order controller design methodology for single fractional-order pole model is proposed. First, the higher integer-order equivalent of this model is found using the Oustaloup approximation to fractional operator. Then, the poles and zeros of the higher integer-order model are determined in terms of fractional-order system model parameters employing characteristic equation format and root-locus idea. The order of the higher integer-order model is reduced using dominant pole–zero couples. The proximity of the pole–zero couples to each other as well as their proximity to the origin is key dominance requirement for order reduction. The controller is obtained inverting the reduced order integer system model in terms of fractional-order system model parameters. The proposed controller is compared with integer and fractional proportional–integral–derivative (PID) controllers using the experiments carried out on two-tank liquid-level process. The real-time experiment outcomes demonstrate that the proposed controller has superior performance over integer and fractional proportional–integral–derivative controllers.

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Section: Introductionmentioning

confidence: 99%

Reduced inverse integer-order controller design for a class of fractional-order model: Case study on two-tank liquid-level process

Yumuk

Güzelkaya

Eksin

2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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“…Literature 42 for the position tracking problem of permanent magnet synchronous motor, in order to improve the robustness of the control system, the unknown model parameters of the system were compensated by a nonlinear disturbance observer to improve the control precision. Literature 43 for the control problem of the servo system, the nonlinear disturbance observer, is used to dispose of the parameters of the motor and the additional unknown disturbance so that the servo system has stronger robustness. Most of the above observers do not possess the fixed time convergence characteristics, and the performance of the observer can be further improved.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Fractional-order Non-singular Fast Terminal Sliding Mode Control Based on Fixed Time Observer

Shi

Zhang

2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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Aiming at the problem of low tracking accuracy of the manipulator in the presence of model parameter errors and external disturbance, this paper proposes an adaptive fractional-order nonsingular fast terminal sliding mode (AFONFTSM) controller based on a fixed-time disturbance observer (FTDO). The controller is split into three portions. First, a fractional-order nonsingular fast terminal sliding mode (FONFTSM) surface is designed to improve the tracking accuracy and convergence speed of the error state. Secondly, to enhance the performance of the system state in the approaching mode, an adaptive variable exponential power reaching law (AVEPRL) is designed, which changes the coefficient of the exponential term through the size of the system state. Meanwhile, adaptive control is used to modulate one item of the reaching law, which improves the anti-interference of the system. In the end, the real-time estimation of the external disturbance is carried out by the FTDO, which solves the problem that the magnitude of the external disturbance is difficult to be determined in the actual engineering. And the stability is verified by the Lyapunov theory. The simulation results display that the controller raised in this paper has better tracking precision, faster convergence speed, and stronger robustness.

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“…Sliding Mode Control (SMC) design techniques have been proposed to control linear and nonlinear dynamical systems mainly due to their robustness property to a class of disturbance and parametric uncertainties. In addition to theoretical research studies for the mathematical background of the controller design, some of the research focuses on having a physically applicable controller [1][2][3][4].…”

Section: Introductionmentioning

confidence: 99%

Nonlinear State Dependent Sliding Sector Control of Gimbal Systems

BIRINCI

ÖZKAN

Salamcı

2022

mech

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Sliding Sector Control (SSC) design method for nonlinear systems is proposed in such a way that the system trajectories are kept around a nonlinear sliding surface which is surrounded by a nonlinear sliding sector. The SSC for the nonlinear system is derived so that the system trajectories are enforced to stay inside the sliding sector for tracking requirements. State-Dependent Differential Riccati Equations (SDDRE) are solved to design the nonlinear sliding surface for the nonlinear dynamical system. Within this context, SSC having nonlinear(or state-dependent) sliding surfaces are used to have a viable solution for the problem formulation. The evolving solutions of the Differential Riccati Equations are used to create the sliding surface which is kept inside the designed sliding sector so that the stability of the nonlinear system is ensured. The proposed SSC method is experimentally tested by applying it to an inner axis of a two axes gimbal system.

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Fractional-order sliding mode position tracking control for servo system with disturbance

Cited by 24 publications

References 26 publications

Reduced inverse integer-order controller design for a class of fractional-order model: Case study on two-tank liquid-level process

Reduced inverse integer-order controller design for a class of fractional-order model: Case study on two-tank liquid-level process

Adaptive Fractional-order Non-singular Fast Terminal Sliding Mode Control Based on Fixed Time Observer

Nonlinear State Dependent Sliding Sector Control of Gimbal Systems

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