Fractional-order sliding mode control for a class of uncertain nonlinear systems based on LQR. (29th March 2017)

• Record Type: Journal Article
• Authors: Zhang, Dong; Cao, Lin; Tang, Shuo
• Is Part Of: International journal of advanced robotic systems. Volume 14:Number 2(2017:Mar./Apr.)
• Publication Date: 2017-03-29
• Subjects: Fractional control -- sliding mode control -- linear-quadratic regulator -- uncertain nonlinear system.; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881417694290
• Languages: English
• ISSNs: 1729-8806

Abstract

This article presents a new fractional-order sliding mode control (FOSMC) strategy based on a linear-quadratic regulator (LQR) for a class of uncertain nonlinear systems. First, input/output feedback linearization is used to linearize the nonlinear system and decouple tracking error dynamics. Second, LQR is designed to ensure that the tracking error dynamics converges to the equilibrium point as soon as possible. Based on LQR, a novel fractional-order sliding surface is introduced. Subsequently, the FOSMC is designed to reject system uncertainties and reduce the magnitude of control chattering. Then, the global stability of the closed-loop control system is analytically proved using Lyapunov stability theory. Finally, a typical single-input single-output system and a typical multi-input multi-output system are simulated to illustrate the effectiveness and advantages of the proposed control strategy. The results of the simulation indicate that the proposed control strategy exhibits excellent performance and robustness with system uncertainties. Compared to conventional integer-order sliding mode control, the high-frequency chattering of the control input is drastically depressed.