Please use this identifier to cite or link to this item: https://hdl.handle.net/20.500.11851/6076
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dc.contributor.authorEfe, Mehmet Önder-
dc.contributor.authorKasnakoğlu, Coşku-
dc.date.accessioned2021-09-11T15:34:53Z-
dc.date.available2021-09-11T15:34:53Z-
dc.date.issued2008en_US
dc.identifier.issn0890-6327-
dc.identifier.issn1099-1115-
dc.identifier.urihttps://doi.org/10.1002/acs.1062-
dc.identifier.urihttps://hdl.handle.net/20.500.11851/6076-
dc.description.abstractThis paper presents a novel parameter tuning law that forces the emergence of a sliding motion in the behavior of a multi-input multi-output nonlinear dynamic system. Adaptive linear elements are used as controllers. Standard approach to parameter adjustment employs integer order derivative or integration operators. In this paper, the use of fractional differentiation or integration operators for the performance improvement of adaptive sliding mode control systems is presented. Hitting in finite time is proved, and the associated conditions with numerical justifications are given. The proposed technique has been assessed through a set of simulations considering the dynamic model of a two degrees of freedom direct drive robot. It is seen that the control system with the proposed adaptation scheme provides (i) better tracking performance, (ii) suppression of undesired drifts in parameter evolution, (iii) a very high degree of robustness and improved insensitivity to disturbances and (iv) removal of the controller initialization problem. Copyright (C) 2008 John Wiley & Sons, Ltd.en_US
dc.description.sponsorshipTurkish Scientific Council (TUBITAK)Turkiye Bilimsel ve Teknolojik Arastirma Kurumu (TUBITAK) [107E137]en_US
dc.description.sponsorshipThe Matlab toolbox Ninteger v 2.3 is used and the efforts of its developer, Dr Duarte Valerio, are gratefully acknowledged. This work is supported by Turkish Scientific Council (TUBITAK) Contract 107E137.en_US
dc.language.isoenen_US
dc.publisherWileyen_US
dc.relation.ispartofInternational Journal of Adaptive Control And Signal Processingen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectfractional tuning lawsen_US
dc.subjectadaptive sliding mode controlen_US
dc.subjectadaptationen_US
dc.subjectfractional order controlen_US
dc.titleA Fractional Adaptation Law for Sliding Mode Controlen_US
dc.typeArticleen_US
dc.departmentFaculties, Faculty of Engineering, Department of Electrical and Electronics Engineeringen_US
dc.departmentFakülteler, Mühendislik Fakültesi, Elektrik ve Elektronik Mühendisliği Bölümütr_TR
dc.identifier.volume22en_US
dc.identifier.issue10en_US
dc.identifier.startpage968en_US
dc.identifier.endpage986en_US
dc.authorid0000-0002-5992-895X-
dc.authorid0000-0002-9928-727X-
dc.identifier.wosWOS:000261814100004en_US
dc.identifier.scopus2-s2.0-57049169753en_US
dc.institutionauthorKasnakoğlu, Coşku-
dc.identifier.doi10.1002/acs.1062-
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.identifier.scopusqualityQ1-
item.openairetypeArticle-
item.languageiso639-1en-
item.grantfulltextnone-
item.fulltextNo Fulltext-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.cerifentitytypePublications-
crisitem.author.dept02.5. Department of Electrical and Electronics Engineering-
crisitem.author.dept02.5. Department of Electrical and Electronics Engineering-
Appears in Collections:Elektrik ve Elektronik Mühendisliği Bölümü / Department of Electrical & Electronics Engineering
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection
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