Please use this identifier to cite or link to this item: https://hdl.handle.net/20.500.11851/6076
Title: A fractional adaptation law for sliding mode control
Authors: Efe, Mehmet Önder
Kasnakoğlu, Coşku
Keywords: fractional tuning laws
adaptive sliding mode control
adaptation
fractional order control
Issue Date: 2008
Publisher: Wiley
Abstract: This paper presents a novel parameter tuning law that forces the emergence of a sliding motion in the behavior of a multi-input multi-output nonlinear dynamic system. Adaptive linear elements are used as controllers. Standard approach to parameter adjustment employs integer order derivative or integration operators. In this paper, the use of fractional differentiation or integration operators for the performance improvement of adaptive sliding mode control systems is presented. Hitting in finite time is proved, and the associated conditions with numerical justifications are given. The proposed technique has been assessed through a set of simulations considering the dynamic model of a two degrees of freedom direct drive robot. It is seen that the control system with the proposed adaptation scheme provides (i) better tracking performance, (ii) suppression of undesired drifts in parameter evolution, (iii) a very high degree of robustness and improved insensitivity to disturbances and (iv) removal of the controller initialization problem. Copyright (C) 2008 John Wiley & Sons, Ltd.
URI: https://doi.org/10.1002/acs.1062
https://hdl.handle.net/20.500.11851/6076
ISSN: 0890-6327
1099-1115
Appears in Collections:Elektrik ve Elektronik Mühendisliği Bölümü / Department of Electrical & Electronics Engineering
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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