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Title of Journal: Nonlinear Dyn

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Abbravation: Nonlinear Dynamics

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Springer Netherlands

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DOI

10.1007/978-1-61779-842-9_30

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1573-269X

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Fractional integral sliding modes for robust track

Authors: AldoJonathan MuñozVázquez Vicente ParraVega Anand SánchezOrta
Publish Date: 2016/09/19
Volume: 87, Issue: 2, Pages: 895-901
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Abstract

Memory and heritage of differintegral operators require knowledge of the error manifold derivative at the initial time to sustain a sliding motion for any initial condition Moreover when the system is subject to unknown disturbances such initial condition is unknown thus the enforcement of an integral sliding motion has been elusive with a chatterless controller In this paper a novel fractionalorder integral sliding mode FISM is proposed to maintain an invariant sliding mode due to an exact estimation of disturbances at first step Our scheme is continuous after initial condition avoiding chattering effects thanks to the topological properties of differintegral operators In contrast to other FISM approaches the proposed scheme induces a fractionalorder reaching dynamics of order 1+nu in 12 to enforce an integral sliding mode for any initial condition even in the presence of Hölder continuous but not necessarily differentiable disturbances and model uncertainties Simulations show the reliability of the proposed scheme

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