Fractional-Order Super-Twisting Sliding-Mode Procedure Design for a Class of Fractional-Order Nonlinear Dynamic Underwater Robots

被引：0
|
作者：
Farideh Shahbazi
Mahmood Mahmoodi
Reza Ghasemi
机构：
[1] University of Qom,Department of Mathematics
[2] University of Qom,Department of Engineering
来源：
Journal of Marine Science and Application | 2020年 / 19卷
关键词：
Underwater robot; Fractional-order system; Sliding-mode control; Super-twisting algorithm; Lyapunov function;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
The purpose of this study is to design a fractional-order super-twisting sliding-mode controller for a class of nonlinear fractional-order systems. The proposed method has the following advantages: (1) Lyapunov stability of the overall closed-loop system, (2) output tracking error’s convergence to zero, (3) robustness against external uncertainties and disturbances, and (4) reduction of the chattering phenomenon. To investigate the performance of the method, the proposed controller is applied to an autonomous underwater robot and Lorenz chaotic system. Finally, a simulation is performed to verify the potential of the proposed method.
引用
收藏
页码：64 / 71
页数：7
相关论文
共 50 条
  • [21] Control of a class of fractional-order chaotic systems via sliding mode
    Di-yi Chen
    Yu-xiao Liu
    Xiao-yi Ma
    Run-fan Zhang
    Nonlinear Dynamics, 2012, 67 : 893 - 901
  • [22] Adaptive sliding-mode control for fractional-order uncertain linear systems with nonlinear disturbances
    Liping Chen
    Ranchao Wu
    Yigang He
    Yi Chai
    Nonlinear Dynamics, 2015, 80 : 51 - 58
  • [23] Nonlinear Sliding Mode Block Control of Fractional-order Systems
    Majidabad, Sajjad Shoja
    Shandiz, Heydar Toosian
    Hajizadeh, Amin
    2014 6TH CONFERENCE ON INFORMATION AND KNOWLEDGE TECHNOLOGY (IKT), 2014, : 92 - 97
  • [24] Synchronization of uncertain fractional-order chaotic systems via the fractional-order sliding mode controller
    Yan, Xiaomei
    Shang, Ting
    Zhao, Xiaoguo
    Ji, Ruirui
    PROCEEDINGS OF THE 28TH CHINESE CONTROL AND DECISION CONFERENCE (2016 CCDC), 2016, : 1444 - 1449
  • [25] Fractional-order sliding mode control synthesis of supercavitating underwater vehicles
    Phuc, Bui Duc Hong
    Phung, Viet-Duc
    You, Sam-Sang
    Do, Ton Duc
    JOURNAL OF VIBRATION AND CONTROL, 2020, 26 (21-22) : 1909 - 1919
  • [26] Sliding Mode Control of Fractional-Order Memristive System
    Dawei Ding
    Shujia Li
    Nian Wang
    Journal of Beijing Institute of Technology, 2017, 26 (03) : 418 - 426
  • [27] Discrete-Time Super-Twisting Fractional-Order Differentiator With Implicit Euler Method
    Sharma, Rahul Kumar
    Xiong, Xiaogang
    Kamal, Shyam
    Ghosh, Sandip
    IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS, 2021, 68 (04) : 1238 - 1242
  • [28] Second-order sliding mode control for nonlinear fractional-order systems
    Mathiyalagan, Kalidass
    Sangeetha, G.
    APPLIED MATHEMATICS AND COMPUTATION, 2020, 383
  • [29] Fractional-order sliding mode control for a class of uncertain nonlinear systems based on LQR
    Zhang, Dong
    Cao, Lin
    Tang, Shuo
    INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2017, 14 (02):
  • [30] Adaptive Sliding Mode Control of a Class of Fractional-Order Nonlinear Systems With Input Uncertainties
    Li, Yuan
    Liu, Aiding
    Yang, Chunzhi
    IEEE ACCESS, 2019, 7 : 74190 - 74197
12345