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Designing a fractional order adaptive fuzzy sliding mode controller for multivariate system with uncertainty
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Farideh Allahverdi *   , Ali Baji |
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Abstract: (92 Views) |
In this article, a fractional order fuzzy adaptive sliding mode controller is designed for multi-input multi-output uncertain systems. Due to the possibility of achieving greater accuracy and freedom in fractional order calculations than the correct order, the slip surface in the design of the control law will be based on fractional order calculations. Also, the fuzzy system is used to adjust the controller parameters. Finally, the stability analysis of the controller is done with the fractional order Lyapunov method. The performance of the proposed controller is evaluated on a two-link robotic arm, and finally, this controller is compared with three fractional-order final sliding model controllers, fractional-order fast final sliding model, and fractional-order final fast nonsingular sliding mode controllers. The simulation results by Matlab software show that the speed of error convergence to zero, guaranteeing stability and reducing output signal fluctuations in the fractional-order nonsingular fast sliding mode control method based on parameter setting by the fuzzy system is higher than the other three types of controllers.
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| Keywords: Fast final nonsingular sliding mode controller, fractional order calculations, uncertainty of model parameters. |
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Full-Text [PDF 1055 kb]
(40 Downloads)
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Type of Study: Research |
Subject:
Special
Received: 2023/11/28 | Accepted: 2024/01/23 | Published: 2024/02/29
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