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This paper investigates an application of fractional theory for control and state estimation for a class of noncommensurate systems. A single-link flexible manipulator is considered as a representative example of this class of second-order underactuated systems. A fractional model is proposed and validated experimentally. The fractional-order sliding mode control is synthesized using a novel stable...
Control under heavy uncertain conditions is one of the most important control problems in integer as well as fractional order systems. This paper investigates a fractional order disturbance observer based on full state information. This work is the extension of integer order disturbance observer in [1] to fractional domain. An extra compensator based on estimated disturbance is added to the classical...
Applicability of he sliding mode control is limited because of unmatched uncertainties and disturbances. A novel sliding mode control design is proposed in his study ensuring theoretically exact compensation of the unmatched perturbations. The proposed scheme uses a nonlinear coordinate to feedback transformation. The transformed control algorithm requires an estimate of mismatched disturbance. A...
The paper proposes design and implementation of fractional order sliding mode control (FOSMC) for a fractional order model of a single link flexible manipulator (SFLM). Novelty of the paper lies in modeling the plant with fractional order dynamics in non-commensurate order. This model is validated through experimentation. In this study, a fractional order sliding surface is introduced to SLFM which...
This paper develops a higher order sliding mode control approach for system with non vanishing mismatched uncertainties through a nonlinear disturbance observer. A novel, stable sliding surface is designed by augmenting the state vector with the estimated disturbance as an extra state. The super twisting algorithm is applied to obtain a continuous, robust control for this extended state system. Convergence...
A fractional order sliding mode control (FOSMC) scheme for control of a single link flexible manipulator is proposed in this paper. Fractional order sliding mode controller is designed and its performance is compared with the traditional sliding mode controller. Here, ‘fractional’ refers to the inclusion of fractional derivatives in the differential equation governing the dynamics of the switching...
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