Adaptive Control Design for Euler–Lagrange Systems Using Fixed-Time Fractional Integral Sliding Mode Scheme
This paper presents an adaptive fixed-time fractional integral control for externally disturbed Euler–Lagrange systems. In the first step of the control design, the approach of fractional-order fixed-time integral nonsingular terminal sliding mode control (FoIFxTSM) is introduced. This scheme combin...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-09-01
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| Series: | Fractal and Fractional |
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| Online Access: | https://www.mdpi.com/2504-3110/7/10/712 |
| _version_ | 1827720916250918912 |
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| author | Saim Ahmed Ahmad Taher Azar Mohamed Tounsi Ibraheem Kasim Ibraheem |
| author_facet | Saim Ahmed Ahmad Taher Azar Mohamed Tounsi Ibraheem Kasim Ibraheem |
| author_sort | Saim Ahmed |
| collection | DOAJ |
| description | This paper presents an adaptive fixed-time fractional integral control for externally disturbed Euler–Lagrange systems. In the first step of the control design, the approach of fractional-order fixed-time integral nonsingular terminal sliding mode control (FoIFxTSM) is introduced. This scheme combines the benefits of fractional calculus with integral sliding mode control, resulting in fast convergence, smooth nonsingular control inputs, and fixed-time stability. By integrating an adaptive scheme, the proposed method is used to control the dynamical system in the presence of uncertainty and external perturbations. The findings of the fixed-time stability using Lyapunov analyses are provided for the closed-loop system. The simulation results are compared with the adaptive fractional-order sliding mode control scheme, and they show the better tracking and convergence performance of the proposed method. |
| first_indexed | 2024-03-10T21:14:56Z |
| format | Article |
| id | doaj.art-aa5a9daa77fe4e649cf55f0e8f2eccc2 |
| institution | Directory Open Access Journal |
| issn | 2504-3110 |
| language | English |
| last_indexed | 2024-03-10T21:14:56Z |
| publishDate | 2023-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Fractal and Fractional |
| spelling | doaj.art-aa5a9daa77fe4e649cf55f0e8f2eccc22023-11-19T16:34:11ZengMDPI AGFractal and Fractional2504-31102023-09-0171071210.3390/fractalfract7100712Adaptive Control Design for Euler–Lagrange Systems Using Fixed-Time Fractional Integral Sliding Mode SchemeSaim Ahmed0Ahmad Taher Azar1Mohamed Tounsi2Ibraheem Kasim Ibraheem3College of Computer and Information Sciences, Prince Sultan University, Riyadh 11586, Saudi ArabiaCollege of Computer and Information Sciences, Prince Sultan University, Riyadh 11586, Saudi ArabiaCollege of Computer and Information Sciences, Prince Sultan University, Riyadh 11586, Saudi ArabiaDepartment of Computer Techniques Engineering, Al-Rafidain University College, Baghdad 46036, IraqThis paper presents an adaptive fixed-time fractional integral control for externally disturbed Euler–Lagrange systems. In the first step of the control design, the approach of fractional-order fixed-time integral nonsingular terminal sliding mode control (FoIFxTSM) is introduced. This scheme combines the benefits of fractional calculus with integral sliding mode control, resulting in fast convergence, smooth nonsingular control inputs, and fixed-time stability. By integrating an adaptive scheme, the proposed method is used to control the dynamical system in the presence of uncertainty and external perturbations. The findings of the fixed-time stability using Lyapunov analyses are provided for the closed-loop system. The simulation results are compared with the adaptive fractional-order sliding mode control scheme, and they show the better tracking and convergence performance of the proposed method.https://www.mdpi.com/2504-3110/7/10/712adaptive integral sliding mode controlfixed-time convergenceEuler–Lagrange systemfractional-order control |
| spellingShingle | Saim Ahmed Ahmad Taher Azar Mohamed Tounsi Ibraheem Kasim Ibraheem Adaptive Control Design for Euler–Lagrange Systems Using Fixed-Time Fractional Integral Sliding Mode Scheme Fractal and Fractional adaptive integral sliding mode control fixed-time convergence Euler–Lagrange system fractional-order control |
| title | Adaptive Control Design for Euler–Lagrange Systems Using Fixed-Time Fractional Integral Sliding Mode Scheme |
| title_full | Adaptive Control Design for Euler–Lagrange Systems Using Fixed-Time Fractional Integral Sliding Mode Scheme |
| title_fullStr | Adaptive Control Design for Euler–Lagrange Systems Using Fixed-Time Fractional Integral Sliding Mode Scheme |
| title_full_unstemmed | Adaptive Control Design for Euler–Lagrange Systems Using Fixed-Time Fractional Integral Sliding Mode Scheme |
| title_short | Adaptive Control Design for Euler–Lagrange Systems Using Fixed-Time Fractional Integral Sliding Mode Scheme |
| title_sort | adaptive control design for euler lagrange systems using fixed time fractional integral sliding mode scheme |
| topic | adaptive integral sliding mode control fixed-time convergence Euler–Lagrange system fractional-order control |
| url | https://www.mdpi.com/2504-3110/7/10/712 |
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