Predefined performance-based model-free adaptive fractional-order fast terminal sliding-mode control of MIMO
Babak Esmaeili1, Mina Salim1, Mahdi Baradarannia1
1Department of Control Engineering, Faculty of Electrical and Computer Engineering, University of Tabriz, 29 Bahman Blvd., Tabriz 5166616471, Iran.
Abstract:
The purpose of this article is to tackle with the problem of data-driven robust control of multi-input multi-output discrete-time nonlinear plants under tracking error constraints and output perturbations. Thereby, based upon the concept of dynamic linearization, a novel predefined performance based model-free adaptive fractional-order fast terminal sliding-mode controller is proposed so that the tracking errors can converge and remain within a preassigned neighborhood. The presented approach does solely rely on the real-time input/output data of the process, and the transient response together with the steady-state manner of the errors can be arbitrarily predefined. In the meantime, the closed-loop behavior is investigated by mathematical analysis, and the efficiency of the method is validated through various simulation examples.
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