The effect of fractional order in variable structure control

• Author(s): Machado, J. A. Tenreiro
• Date: 2012
• Persistent ID: http://hdl.handle.net/10400.22/3783
• Origin: Repositório Científico do Instituto Politécnico do Porto
• Subject(s): Fractional calculus; Variable structure systems; Control; Robotics
• Document Type: Article
• Language: English

Description

This paper studies fractional variable structure controllers. Two cases are considered namely, the sliding reference model and the control action, that are generalized from integer into fractional orders. The test bed consists in a mechanical manipulator and the effect of the fractional approach upon the system performance is evaluated. The results show that fractional dynamics, both in the switching surface and the control law are important design algorithms in variable structure controllers.