Search for: fractional-order-sliding-surfaces
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    Stabilisation of commensurate fractional-order polytopic non-linear differential inclusion subject to input non-linearity and unknown disturbances

    , Article IET Control Theory and Applications ; Volume 7, Issue 12 , 2013 , Pages 1624-1633 ; 17518644 (ISSN) Abooee, A ; Haeri, M ; Sharif University of Technology
    In this study, a fractional-order adaptive-sliding mode control (SMC) scheme is proposed to stabilise commensurate fractional-order polytopic non-linear differential inclusion systems containing sector and dead-zone nonlinearities in the control inputs and unknown bounded disturbances. The suggested control method is composed of fractional-order sliding surfaces, adaptive-SMC inputs and adaptation laws for unknown bounds of disturbances. The Lyapunov stability theorem is used to prove the stability of the closed-loop system. A practical system and two numerical examples are simulated to show the effectiveness and performance of the proposed control technique  

    A new fast finite time fractional order adaptive sliding-mode control for a quadrotor

    , Article 7th International Conference on Control, Instrumentation and Automation, ICCIA 2021, 23 February 2021 through 24 February 2021 ; 2021 ; 9780738124056 (ISBN) Naderi Soorki, M ; Vedadi Moghaddam, T ; Emamifard, A ; Sharif University of Technology
    Institute of Electrical and Electronics Engineers Inc  2021
    Fast finite time adaptive sliding mode control of a quadrotor in the presence of uncertainties and unbounded external disturbances is dealt in this paper. To this end, a fractional order sliding surface is first defined and then, an adaptive sliding mode controller is designed to guarantee finite time stability with fast convergence of quadrotor states to the desired trajectory. In this controller, it is assumed that the upper bound of the model uncertainties and external disturbances is a nonlinear function with unknown coefficients. These coefficients are estimated via stable adaptive laws. Finite time stability of the closed-loop system is analyzed using Lyapunov theorem. Simulation...