Abstract
This article presents a robust adaptive fractional order proportional integral derivative controller for a class of uncertain fractional order nonlinear systems using fractional order sliding mode control. The goal is to achieve closed-loop control system robustness against the system uncertainty and external disturbance. The fractional order proportional integral derivative controller gains are adjustable and will be updated using the gradient method from a proper sliding surface. A supervisory controller is used to guarantee the stability of the closed-loop fractional order proportional integral derivative control system. Finally, fractional order Duffing–Holmes system is used to verify the proposed method.
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More From: Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering
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