用于描述水下机器人的一类分数阶非线性动力系统的分数阶超扭曲滑移模态过程设计

作者：Farideh Shahbazi,Mahmood Mahmoodi,Reza Ghasemi

摘要：The purpose of this study is to design a fractional-order super-twisting sliding-mode controller for a class of nonlinear fractionalorder systems.The proposed method has the following advantages:(1)Lyapunov stability of the overall closed-loop system,(2)output tracking error’s convergence to zero,(3)robustness against external uncertainties and disturbances,and(4)reduction of the chattering phenomenon.To investigate the performance of the method,the proposed controller is applied to an autonomous underwater robot and Lorenz chaotic system.Finally,a simulation is performed to verify the potential of the proposed method.

发文机构：Department of Mathematics Department of Engineering

关键词：UnderwaterrobotFractional-ordersystemSliding-modecontrolSuper-twistingalgorithmLyapunovfunctionUnderwater robotFractional-order systemSliding-mode controlSuper-twisting algorithmLyapunov function

分类号： TP2[自动化与计算机技术—检测技术与自动化装置]