분수-체계 외란 관측기와 분수-체계 슬라이딩 모드 제어기를 적용한 Euler-Lagrange 시스템에 대한 위치 제어 = Positioning Control of Euler-Lagrange Systems Using Fractional-Order Disturbance Observer and Fractional-Order Sliding Mode Controller

다국어 초록 (Multilingual Abstract)

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다국어 초록 (Multilingual Abstract)

A fractional-order based sliding mode controller and disturbance observer were developed for enhanced positioning performance of Euler Lagrange systems. First, an issue of a fractional-order sliding control was addressed to obtain rapid convergence compared to the conventional standard and terminal sliding mode controls. Next, a fractional-order disturbance observer based on the fractional-order sliding surface was developed to obtain more enhanced estimation performance over the integer-order based disturbance observer. In order to demonstrate the superior properties of the proposed strategies, simulations were performed for a three-link articulated manipulator.

참고문헌 (Reference)

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