Fractional order control for position and attitude of 5-DOF air-bearing simulator

Abstract:

A fractional order sliding controller and a fractional proportional differential controller are designed for attitude and position of 5-DOF air-bearing simulator, respectively. Firstly, a new fuzzy parameter self-tuning robust fractional sliding mode controller is designed for attitude platform model under considering gravity unbalance torque and actuator assembling error. The fractional differential operator is introduced in traditional sliding mode control because of its information memory and genetic characteristics, and then switching gain parameter is achieved self-tuning by fuzzy reasoning mechanism, so that the new controller has the multiple advantages of fuzzy control, fractional differential operator and sliding mode control. The stability of the whole system is proved by Fractional Lyapunov Theory. Secondly, a fractional proportional differential controller is proposed for translational platform considering coupling effects with attitude model. Finally, the actual operating characteristics of the actuator are considered in the process of the simulation. Numerical simulations are also included to reinforce the analytic results and to validate the excellent effect of the new robust fractional sliding mode controller.