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research-article

Fractional-order Nonlinear Disturbance Observer based Control of Fractional-order Systems

[+] Author and Article Information
Aldo Jonathan Muñoz-Vázquez

Mechatronic Engineering, Polytechnic University of Victoria, Ciudad Victoria, Tamaulipas, Mexico
amunozv@upv.edu.mx

Vicente Parra Vega

Robotics and Advanced Manufacturing, Research Center for Advanced Studies, Saltillo, Coahuila, Mexico
vparra@cinvestav.edu.mx

Anand Sanchez-Orta

Robotics and Advanced Manufacturing, Research Center for Advanced Studies, Saltillo, Coahuila, Mexico
anand.sanchez@cinvestav.edu.mx

1Corresponding author.

ASME doi:10.1115/1.4040129 History: Received January 31, 2018; Revised April 30, 2018

Abstract

The robust control of a class of disturbed fractional-order systems is presented in this paper. The proposed controller considers a dynamic observer to exactly compensate for matched disturbances in finite-time, and a procedure to compensate for unmatched disturbances is then derived. The proposed disturbance observer is build upon continuous fractional sliding modes, producing a fractional-order reaching phase, leading to a continuous control signal, yet able to reject for some continuous but not necessarily differentiable disturbances. Numerical simulations and comparisons are presented to highlight the reliability of the proposed scheme.

Copyright (c) 2018 by ASME
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