期刊
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
卷 357, 期 11, 页码 6760-6776出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.jfranklin.2020.04.055
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资金
- National Research Foundation of Korea (NRF) - Korea government(MSIT) [NRF-2018R1A2B6005128]
- Dongguk University Research Fund of 2019
This study developed a fractional-order command filter-based backstepping control (BSC) combined with a fractional-order sliding mode surface and a fractional-order nonlinear disturbance observer. The fractional-order based command filter was introduced to obtain a much faster convergence time than the previous command filter and resolve an explosion of complexity of BSC. Next, the fractional-order sliding mode surface was combined directly with the recursive controller-design process of the BSC system to enforce robustness to a disturbance compared to the conventional BSC system. Finally, the fractional-order nonlinear disturbance observer was considered to obtain fast and improved disturbance estimation performance over the conventional integer-order based one. The proposed fractional-order BSC control system showed more straightforward controller structure and improved performance than the conventional integer-order based BSC system. This was proven by a comparative simulation of a nonlinear dynamic system. (C) 2020 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.
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