Fractional-Order Super-Twisting Sliding-Mode Procedure Design for a Class of Fractional-Order Nonlinear Dynamic Underwater Robots

Abstract

The purpose of this study is to design a fractional-order super-twisting sliding-mode controller for a class of nonlinear fractional-order systems. The proposed method has the following advantages: (1) Lyapunov stability of the overall closed-loop system, (2) output tracking error’s convergence to zero, (3) robustness against external uncertainties and disturbances, and (4) reduction of the chattering phenomenon. To investigate the performance of the method, the proposed controller is applied to an autonomous underwater robot and Lorenz chaotic system. Finally, a simulation is performed to verify the potential of the proposed method.

Keywords

Underwater robot / Fractional-order system / Sliding-mode control / Super-twisting algorithm / Lyapunov function

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