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Adaptive robust control of fractional-order swarm systems in the presence of model uncertainties and external disturbances

Naderi Soorki, M ; Sharif University of Technology | 2018

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  1. Type of Document: Article
  2. DOI: 10.1049/iet-cta.2017.0035
  3. Publisher: Institution of Engineering and Technology , 2018
  4. Abstract:
  5. This study investigates the asymptotic swarm stabilisation of fractional-order swarm systems in the presence of two different kinds of model uncertainties and external disturbances while the upper bound of the uncertainties is a linear function of pseudo-states norms with unknown coefficients. To this end, first a fractional-integral sliding manifold is constructed and then an adaptive-robust sliding mode controller is designed to guarantee the asymptotic swarm stability in a fractional-order linear time-invariant swarm system. The stability analysis of the proposed control system is done based on the Lyapunov stability theorem. Using the proposed controller, the coefficients of the upper bound function of the uncertainties are estimated by adaptive laws. Simulation results are provided to show the effectiveness of the proposed controller. © The Institution of Engineering and Technology 2018
  6. Keywords:
  7. Control system stability ; Controllers ; Linear control systems ; Robust control ; Sliding mode control ; Uncertainty analysis ; Adaptive robust control ; External disturbances ; Fractional integrals ; Linear time invariant ; Lyapunov stability theorem ; Model uncertainties ; Robust sliding mode ; Unknown coefficients ; Adaptive control systems
  8. Source: IET Control Theory and Applications ; Volume 12, Issue 7 , 2018 , Pages 961-969 ; 17518644 (ISSN)
  9. URL: https://ieeexplore.ieee.org/document/8337958