Adaptive parallel fractional sliding mode control

Fractional sliding mode schemes possess the ability of compensating a large sort of continuous but not necessarily integer-order differentiable disturbances; however, the adjustment of the control parameters is usually difficult and is based on a heuristic process. Motivated by the approximation capabilities of fractional sliding modes, this article proposes a parallel controller, which results as a linear combination of fractional-order integral functions. The weight of each action of control is computed online by means of an adaptation algorithm. The stability of the closed-loop system is demonstrated in the Lyapunov framework and a simulation study is presented to highlight the reliability of the proposed controller.

Automated summary

This article proposes a parallel controller based on the approximation capabilities of fractional sliding modes and the computation of weights for each control action online through an adaptation algorithm to compensate for various disturbances. The stability of the closed-loop system is demonstrated in the Lyapunov framework, and a simulation study highlights the reliability of the proposed controller.