Design of Fractional Order Sliding Mode Controller Based on Parameters Tuning

摘要

W artykule zaproponowano ułamkowy sterownik ślizgowy FOSMC. Przy ustalonych parametrach systemu powierzchnia ślizgowa jest dobierana przez uwzględnianie częstotliwości i marginesu fazy. Przełączane wzmocnienie jest realizowane po zastosowaniu układu logik%For dealing with the chattering phenomenon existing in conventional first order sliding mode controller, in this paper, a fractional order sliding mode controller (FOSMC) is proposed. Based on the advantage of fractional order differential and integral calculus, the sliding mode surface is designed with fractional order differential but not integral order. Under the stable performance of system, the parameters of sliding mode surface are tuned by given crossover frequency and phase margin. Furthermore, the softswitching gain is obtained used fuzzy logic inference system. Simulations and experiments demonstrate that the proposed fractional order sliding mode controller not only achieve high control performance, but also is robust with regard to external disturbance.