Control of Fractional Order Systems Using Chatter Free Sliding Mode Approach

Abstract

The problem of stabilization of nonlinear fractional systems in spite of system uncertainties is investigated in this paper. First, a proper fractional derivative type sliding manifold with desired stability and convergence properties is designed. Then, the fractional stability theory is adopted to derive a robust sliding control law to force the system trajectories to attain the proposed sliding manifold and remain on it evermore. The existence of the sliding motion is mathematically proven. Furthermore, the sign function in the control input, which is responsible to the being of harmful chattering, is transferred into the fractional derivative of the control input. Therefore, the resulted control input becomes smooth and free of the chattering. Some numerical simulations are presented to illustrate the efficient performance of the proposed chatteringfree fractional variable structure controller.