用于描述水下機器人的一類分數階非線性動力系統的分數階超扭曲滑移模態過程設計

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.

發文機構：Department of Mathematics Department of Engineering

關鍵詞：UnderwaterrobotFractional-ordersystemSliding-modecontrolSuper-twistingalgorithmLyapunovfunctionUnderwater robotFractional-order systemSliding-mode controlSuper-twisting algorithmLyapunov function

分類號： TP2[自動化與計算機技術—檢測技術與自動化裝置]