Department of Mechanical Engineering, Yazd University, Yazd, Iran.
Department of Mechanical Engineering, University of Sistan and Baluchestan, Zahedan, Iran.
ISA Trans. 2019 Oct;93:23-39. doi: 10.1016/j.isatra.2019.03.006. Epub 2019 Mar 8.
In this research, a novel adaptive interval type-2 fuzzy fractional-order backstepping sliding mode control (AIT2FFOBSMC) method is presented for some classes of nonlinear fully-actuated and under-actuated mechanical systems with uncertainty. The AIT2FFOBSMC method exploits the advantages of backstepping and sliding mode methods to improve the performance of closed-loop control systems by lowering the tracking error and increasing robustness. To mitigate chattering and the tracking error, a fractional sliding surface is designed. In addition to the fractional sliding surface, an adaptive interval type-2 fuzzy compensator is used to estimate the uncertainty and perturbation of the nonlinear system in order to further reduce chattering caused by switching term as well as to enhance the perturbation rejection. In order to achieve an optimal performance, the multi-tracker optimization algorithm (MTOA) is used. Finally, a number of simulations and experimental tests are carried out to examine the performance of the AIT2FFOBSMC method.
在这项研究中，提出了一种新颖的自适应区间型 2 模糊分数阶反步滑模控制（AIT2FFOBSMC）方法，用于具有不确定性的几类非线性全驱动和欠驱动机械系统。AIT2FFOBSMC 方法利用反步和滑模方法的优点，通过降低跟踪误差和提高鲁棒性来提高闭环控制系统的性能。为了减轻抖振和跟踪误差，设计了分数阶滑动面。除了分数阶滑动面之外，还使用自适应区间型 2 模糊补偿器来估计非线性系统的不确定性和扰动，以进一步减少切换项引起的抖振，并增强对扰动的抑制能力。为了实现最佳性能，使用了多跟踪优化算法（MTOA）。最后，进行了大量的仿真和实验测试，以检验 AIT2FFOBSMC 方法的性能。
