A Chattering-free Fractional PDα Sliding-mode Control of a 3-DOF Robot System Driven by DC motors

摘要：

This paper proposes a robust fractional-order sliding mode control of a 3-DOF robot system driven by DC motors. Primarily, a conventional sliding mode controller based on PDα sliding surface is designed. Numerical simulations have been carried out to show the proposed control systems robustness properties as well as compare the significance of the proposed control which resulted in reducing output oscillations (chattering-free) of the given robot. Simulations also include comparison fractional-order PD sliding mode controller with standard PD sliding-mode controller.

关键词： robust control fractional calculus sliding-mode robot chattering

作者: Srecko A. Batalov Mihailo P. Lazarevi(c) Ales Hace Karel Jezernik

作者单位: University of Belgrade, Faculty of Mechanical Engineering,Belgrade, Serbia University of Belgrade, Faculty of Mechanical Engineering, Department of Mechanics,Belgrade, Serbia Institute for Robotics, Faculty of electrical engineering and computer science,University of Maribor Institute for Robotics, Faculty of electrical engineering and computer science, University of Maribo

会议类型: 国际会议

会议名称: The Fifth Symposium on Fractional Differentiation and Its Applications(第五届国际自动控制联合会分数阶导数及其应用会议)

会议地点: 南京

会议语种:英文

页码: 1-6

在线出版日期: 2012-05-14（万方平台首次上网日期，不代表论文的发表时间）