Fractional order sliding mode observer-based control (FOSMOC) is a control strategy that utilizes fractional calculus to design a sliding mode observer for estimating the states of a multi-motor system. The main idea behind using FOSMOC is to enhance the robustness of the control system against external perturbations and uncertainties.
Here's how FOSMOC can enhance the robustness of multi-motor systems against external perturbations:
Improved State Estimation: The sliding mode observer, based on fractional calculus, allows for better state estimation of the multi-motor system. This means that even in the presence of external disturbances or uncertainties, the observer can accurately estimate the states of the system, including motor speeds, positions, and other relevant variables.
Robustness to Model Uncertainties: Multi-motor systems often suffer from uncertainties in their dynamics and parameters. FOSMOC can handle these model uncertainties effectively due to its robustness properties. The fractional order controller can adapt to the varying dynamics and maintain stability and performance under uncertain conditions.
Attenuation of External Perturbations: External perturbations can adversely affect the behavior of multi-motor systems. FOSMOC helps in attenuating the effects of these perturbations by employing a sliding mode control approach. The sliding mode control actively drives the system to a desired sliding surface, and the fractional order nature of the controller allows for smoother switching between modes, reducing chattering and minimizing the impact of disturbances.
Accurate Tracking and Rejection of Disturbances: FOSMOC can achieve accurate tracking of reference trajectories and rejection of external disturbances simultaneously. The fractional order control structure enables precise control action even when the system dynamics are complex or poorly understood.
Improved Performance in High-Dynamic Environments: Multi-motor systems are commonly found in high-dynamic environments where fast and precise control is essential. FOSMOC can handle high-frequency disturbances and maintain control performance in such challenging conditions.
Adaptive Tuning: The fractional order nature of the controller allows for adaptive tuning of control parameters based on system conditions. This adaptability enables the controller to respond to changes in the system's operating conditions and provide robust control performance.
In summary, the use of fractional order sliding mode observer-based control can significantly enhance the robustness of multi-motor systems against external perturbations and uncertainties. It enables accurate state estimation, attenuates disturbances, and provides adaptive control capabilities, making it a powerful approach for achieving stable and high-performance control in complex multi-motor systems.