Adaptive backstepping control for fractional-order nonlinear systems with external disturbance and uncertain parameters using smooth control

• Main Authors: Li, Xinyao, Wen, Changyun, Zou, Ying
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2022
• Subjects: Engineering::Electrical and electronic engineering; Adaptive Backstepping Control; Fractional-Order
• Online Access: https://hdl.handle.net/10356/162385
• Institution: Nanyang Technological University

In this article, we consider controlling a class of single-input-single-output (SISO) commensurate fractional-order nonlinear systems with parametric uncertainty and external disturbance. Based on backstepping approach, an adaptive controller is proposed with adaptive laws that are used to estimate the unknown system parameters and the bound of unknown disturbance. Instead of using discontinuous functions such as the sign function, an auxiliary function is employed to obtain a smooth control input that is still able to achieve perfect tracking in the presence of bounded disturbances. Indeed, global boundedness of all closed-loop signals and asymptotic perfect tracking of fractional-order system output to a given reference trajectory are proved by using fractional directed Lyapunov method. To verify the effectiveness of the proposed control method, simulation examples are presented.