Fractional-order DOB-sliding mode control for a class of noncommensurate fractional-order systems with mismatched disturbances

被引：14

作者：

Wang, Jing ^{[1
]}

Shao, Changfeng ^{[1
]}

Chen, Xiaolu ^{[1
]}

Chen, YangQuan ^{[2
]}

机构：

[1] Beijing Univ Chem Technol, Coll Informat Sci & Technol, Beijing 100029, Peoples R China

[2] Univ Calif Merced, Sch Engn, Mechatron Embedded Syst & Automat Lab, Merced, CA USA

来源：

MATHEMATICAL METHODS IN THE APPLIED SCIENCES | 2021年 / 44卷 / 10期

基金：

中国国家自然科学基金;

关键词：

fractional-order disturbance observer; fractional-order sliding mode control; mismatched disturbance; noncommensurate fractional-order systems; OBSERVER; TIME; DESIGN;

D O I：

10.1002/mma.5850

中图分类号：

O29 [应用数学];

学科分类号：

070104 ;

摘要：

This article proposes a novel fractional-order sliding mode control based on the disturbance observer for a class of noncommensurate fractional-order systems with mismatched disturbances. Firstly, the noncommensurate fractional-order system is decomposed into several subsystems with commensurate order. Then the fractional-order disturbance observers are designed independently to estimate the mismatched disturbances for each subsystems. Based on the designed disturbance observers, a uniform fractional-order sliding mode control is proposed. The proposed method can deal with the mismatched disturbances and has better control performance. The simulations on single-link flexible manipulator system demonstrate the effectiveness of the proposed method.

引用

页码：8228 / 8242

页数：15

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