Fuzzy Fractional-Order Fast Terminal Sliding Mode Control for Some Chaotic Microcomponents

2017 ◽  
Vol 23 (3) ◽  
pp. 289-294 ◽  
Author(s):  
Jianxin Han ◽  
Qichang Zhang ◽  
Wei Wang ◽  
Jing Wang
Keyword(s):  
Sliding Mode Control ◽  
Fractional Order ◽  
Sliding Mode ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Fast Terminal Sliding Mode

scholarly journals Fractional-Order Fast Terminal Sliding Mode Control for a Class of Dynamical Systems

2013 ◽  
Vol 2013 ◽  
pp. 1-10 ◽  
Author(s):  
Guoliang Zhao
Keyword(s):  
Dynamical Systems ◽  
Sliding Mode Control ◽  
Fractional Order ◽  
Sliding Mode ◽  
Lyapunov Stability Theory ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Finite Time Stability ◽  
Mode Control ◽  
Fast Terminal Sliding Mode

This paper introduces a novel fractional fast terminal sliding mode control strategy for a class of dynamical systems with uncertainty. In this strategy, a fractional-order sliding surface is proposed, the corresponding control law is derived based on Lyapunov stability theory to guarantee the sliding condition, and the finite time stability of the closeloop system is also ensured. Further, to achieve the equivalence between convergence rate and singularity avoidance, a fractional-order nonsingular fast terminal sliding mode controller is studied and the stability is presented. Finally, numerical simulation results are presented to illustrate the effectiveness of the proposed method.

Fault tolerant control for robotic manipulator using fractional-order backstepping fast terminal sliding mode control

2021 ◽  
pp. 014233122110224
Author(s):  
Zeeshan Anjum ◽  
Yu Guo ◽  
Wei Yao
Keyword(s):  
Sliding Mode Control ◽  
Fractional Order ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Terminal Sliding Mode Control ◽  
Actuator Faults ◽  
Terminal Sliding Mode ◽  
Control Approach ◽  
Mode Control ◽  
Fast Terminal Sliding Mode

In this paper, the problems of tracking control and finite-time stabilization of a high nonlinear system such as a robotic manipulator in the presence of actuator faults, uncertainties, and external disturbances are explored. In order to improve the performance of the system in the presence of actuator faults, uncertainties and external disturbances a novel fault tolerant control system based on fractional-order backstepping fast terminal sliding mode control is developed in this paper. The control system is developed by employing the results obtained from studies in the fields of fractional-order calculus, backstepping, sliding mode control, Mittag–Leffler stability, and finite-time Lyapunov stability. The performance of the suggested controller is then tested for a PUMA560 robot in which the first three joints are used. The simulation results validate the usefulness of the developed control approach in terms of accuracy of tracking, and convergence speed in the presence of disturbances, uncertainties and actuator faults. The trajectory tracking performance of the developed method is compared with other state of the art approaches such as conventional computed torque control, proportional integral derivative control and nonsingular fast terminal sliding mode control. The simulation results show that the proposed control approach performed better as compared to other control approaches in the presence of actuator faults, uncertainties, and disturbances.

Tracking control of cable-driven manipulator with adaptive fractional-order nonsingular fast terminal sliding mode control

2020 ◽  
pp. 107754632096167
Author(s):  
Lianqing Su ◽  
Xing Guo ◽  
Yude Ji ◽  
Yun Tian
Keyword(s):  
Sliding Mode Control ◽  
Fractional Order ◽  
Sliding Mode ◽  
Delay Estimation ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Upper Limit ◽  
Control Scheme ◽  
Fast Terminal Sliding Mode

In this article, an adaptive nonsingular terminal sliding mode control scheme based on fractional order is proposed for a cable-driven manipulator with external disturbances, where the concentration is uncertain and the upper limit is known or unknown. Furthermore, a new adaptive fractional-order nonsingular fast terminal sliding mode algorithm with time-delay estimation is developed. The delay estimation unit can be used to properly compensate the centralized unknown dynamics of the system, thereby obtaining attractive model-free characteristics. A characteristic of the control scheme in this article is that by using the adaptive tuning law, the upper limit of the uncertainty is estimated only by the speed and position measurement so as to achieve the effects of rapid convergence, high accuracy, and vibration reduction. In addition, the proposed controller effectively eliminates the effects of jitter without losing robustness and accuracy. The simulation results show the effectiveness of the proposed control scheme.

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