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Command-filtered compound FAT learning control of fractional-order nonlinear systems with input delay and external disturbances

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Abstract

This paper presents a function approximation technique (FAT) including a fractional-order (FO) compound learning controller in the framework of backstepping algorithm. The controller is applied to uncertain fractional-order nonlinear systems with time-varying input delay in the presence of unknown external disturbances. An FAT is adopted in the learning-based design to identify unknown terms in the system description. In addition, a FO-augmented controller compensates the delay effects and a FO command-filtered algorithm copes with the complexity of the backstepping-based design. The approximation of the FAT learning process is also considered by defining a prediction error, which is derived from the FO serial–parallel identifier. FO compound adaptive laws are then proposed. The stability of the overall system is verified through a Lyapunov analysis. The proposed concepts are illustrated using numerical examples.

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Authors and Affiliations

  1. Faculty of Electrical Engineering, Shahrood University of Technology, Shahrood, 36199-95161, Iran

    Javad Keighobadi & Alireza Alfi

  2. Department of Electrical Engineering, Sari Branch, Islamic Azad University, Sari, Iran

    Seyed Mehdi Abedi Pahnehkolaei

  3. Porto, Department of Electrical Engineering, Rua Dr. António Bernardino de Almeida 431, 4249-015, Porto, Portugal

    J. A. Tenreiro Machado

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  1. Javad Keighobadi
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  2. Seyed Mehdi Abedi Pahnehkolaei
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  3. Alireza Alfi
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  4. J. A. Tenreiro Machado
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Correspondence to Alireza Alfi.

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Keighobadi, J., Pahnehkolaei, S.M.A., Alfi, A. et al. Command-filtered compound FAT learning control of fractional-order nonlinear systems with input delay and external disturbances. Nonlinear Dyn 108, 293–313 (2022). https://doi.org/10.1007/s11071-022-07203-1

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