Fractional terminal sliding mode control design for a class of dynamical systems with uncertainty

• Published in: Communications in nonlinear science & numerical simulation Vol. 17; no. 1; pp. 367 - 377
• Main Authors: Dadras, Sara, Momeni, Hamid Reza
• Format: Journal Article
• Language: English
• Published: Elsevier B.V 2012
• Subjects: Computer simulation; Control systems; Dynamical systems; Fractional calculus; Lyapunov stability theory; Mathematical analysis; Mathematical models; Sliding mode control; Terminal sliding mode control; Terminals; Uncertain dynamical system; Uncertainty; Terminal sliding mode control; Lyapunov stability theory; Fractional calculus; Uncertain dynamical system
• ISSN: 1007-5704; 1878-7274
• DOI: 10.1016/j.cnsns.2011.04.032

► A novel type of control strategy called fractional terminal sliding mode control is introduced. ► The effects of model uncertainties are taken into account in the design procedure. ► Fractional Lyapunov stability theorem is used to guarantee the sliding condition. ► The closed-loop system response in presence of IO-TSMC and FO-TSMC are compared. ► The proposed FO-TSMC possesses not only more accurate control performance but also faster convergence speed than the IO-TSMC. A novel type of control strategy combining the fractional calculus with terminal sliding mode control called fractional terminal sliding mode control is introduced for a class of dynamical systems subject to uncertainties. A fractional-order switching manifold is proposed and the corresponding control law is formulated based on the Lyapunov stability theory to guarantee the sliding condition. The proposed fractional-order terminal sliding mode controller ensures the finite time stability of the closed-loop system. Finally, numerical simulation results are presented and compared to illustrate the effectiveness of the proposed method.