Professor Utkin in his discussion paper proposed an example showing that the amplitude of chattering caused by the presence of parasitic dynamics in systems governed by FirstOrder Sliding-Mode Control (FOSMC) is lower than the obtained using Super-Twisting Algorithm (STA). This example served to motivate this research reconsidering the problem of comparison of chattering magnitude in systems go...

Antilock braking system (ABS) is a highly nonlinear system including variation and uncertainties in the parameters due to changes in vehicle loadings, road condition, etc. It is a difficult task to design an ideal controller for ABS. In this paper, a novel robust controller named fractional order sliding mode controller (FOSMC) is proposed for ABS to regulate the slip to a desired value. The pr...

Abstract This research proposes a new compound fractional sliding mode control (FOSMC) and super-twisting (FOSMC + STC) to microelectromechanical systems gyroscope. A surface has been defined design the proposed controller. The main advantages of FOSMC are its high tracking performance robustness against external perturbation, but creating chattering phenomenon is drawback. By applying (STC) me...

An improved fractional-order sliding mode control (FOSMC) for PMSM is presented in this study to set the unavoidable parameters and improve permanent magnet synchronous motors (PMSMs) drive performance, such as current speed tracking accuracy. To determine optimal of FOSMC a drive, neural network algorithm with reinforcement learning (RLNNA) proposed. The are by ANN then adapted through enhance...

Robotic manipulators with diverse structures find widespread use in both industrial and medical applications. Therefore, designing an appropriate controller is of utmost importance when utilizing such robots. In this research, we present a robust data-driven control method for the regulation 2-degree-of-freedom (2-DoF) robot manipulator. The nonlinear dynamic model 2-DoF arm linearized using Ko...

Fractional order sliding mode control has been applied for speed of PMSM. However, in many previous works, the effects controller's parameters have not studied. This paper investigates fractional on performance FOSMC In this work, order, α and β FOSMS-PID were varied, their performances compared. The simulation experimental results show that variation integration, differentiation, can affect FO...

The induction motor (IM) drives are prone to various uncertainties, disturbances, and non-linear dynamics. A high-performance control system is essential in the outer loop guarantee accurate convergence of speed torque required value. Super-twisting sliding mode (ST-SMC) fractional-order calculus have been widely used enhance (SMC) performance for IM drives. This paper combines ST-SMC attribute...

and Applied Analysis 3 Fractional calculus is a generalization of integer-order integration and differentiation to non-integer-order ones. Let symbol aDt denote the fractional-order fundamental operator, defined as follows 20, 21 : D aDt ⎧ ⎪ ⎪⎨ ⎪ ⎪⎩ d dtλ R λ > 0, 1 R λ 0, ∫ t a dτ −λ R λ < 0, 2.1 where a and t are the limits of the operation, λ is the order of the operation, and generally λ ∈ ...

Tracking the speed and current in permanent magnet synchronous motors (PMSMs) for industrial applications is challenging due to various external internal disturbances such as parameter variations, unmodelled dynamics, load disturbances. Inaccurate tracking of results severe system deterioration overheating. Therefore, design controller a PMSM essential ensure can operate efficiently under condi...

In this study, a Fractional-Order Sliding Mode Control scheme is proposed for trajectory tracking control of Delta parallel robot. The controller compared with both integer-order Proportional-Derivative and Controller Computed Torque method. forward kinematics, inverse kinematics dynamic robot are described. A Solidworks/Matlab/SimScape/Multibody model generated used parameter estimation valida...