Fractional-order DOB-sliding mode control for a class of noncommensurate fractional-order systems with mismatched disturbances
Corresponding Author
Jing Wang
College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China
Correspondence
Jing Wang, College of Information Science and Technology, Beijing University of Chemical Technology, Beijing 100029, China.
Email: [email protected]
Communicated by: D. Zeidan
Search for more papers by this authorChangfeng Shao
College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China
Search for more papers by this authorXiaolu Chen
College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China
Search for more papers by this authorYangQuan Chen
Mechatronics, Embedded Systems and Automation Lab, School of Engineering, University of California, Merced, California
Search for more papers by this authorCorresponding Author
Jing Wang
College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China
Correspondence
Jing Wang, College of Information Science and Technology, Beijing University of Chemical Technology, Beijing 100029, China.
Email: [email protected]
Communicated by: D. Zeidan
Search for more papers by this authorChangfeng Shao
College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China
Search for more papers by this authorXiaolu Chen
College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China
Search for more papers by this authorYangQuan Chen
Mechatronics, Embedded Systems and Automation Lab, School of Engineering, University of California, Merced, California
Search for more papers by this authorAbstract
This article proposes a novel fractional-order sliding mode control based on the disturbance observer for a class of noncommensurate fractional-order systems with mismatched disturbances. Firstly, the noncommensurate fractional-order system is decomposed into several subsystems with commensurate order. Then the fractional-order disturbance observers are designed independently to estimate the mismatched disturbances for each subsystems. Based on the designed disturbance observers, a uniform fractional-order sliding mode control is proposed. The proposed method can deal with the mismatched disturbances and has better control performance. The simulations on single-link flexible manipulator system demonstrate the effectiveness of the proposed method.
CONFLICT OF INTEREST
The authors declared no potential conflicts of interest with respect to the research, authorship, and/or publication of this article.
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