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RETRACTED ARTICLE: Chattering-free variable structure controller design via fractional calculus approach and its application

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This article was retracted on 07 February 2020

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Abstract

The chattering phenomenon in variable structure control (VSC) is always given to attention long time. This paper proposes a novel type of control strategy combining the fractional calculus with second-order sliding mode control called second-order fractional variable structure control for a class of nonlinear systems. A novel adaptation law is assigned for reaching the controller part of the sliding mode control to eliminate the chattering phenomenon in spite of the small and large uncertainties in the system. The applied adaptation law acts like a saturation function technique in a thin boundary layer near the sliding surface so that the stability of the system is guaranteed. The proposed chattering-free VSC displays better tracking performance, higher degree of robustness to parameter variations, and lower control effort need. The simulation utilizing the nonlinear models of inverted pendulum and interconnected twin tank system are examined to verify the effectiveness of the proposed control strategy, and its advantages are shown in the results. Finally, the physical application of the proposed VSC strategy is demonstrated through an instance of a typical hexapod robot.

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  • 07 February 2020

    TheEditor-in-Chief has retracted this article [1] because it overlaps significantly with an

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Acknowledgments

This research is supported by National Natural Science Foundation of China (Grant No. 51405515) and National Basic Research Program of China (Grant No. 2013CB035504).

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Authors and Affiliations

  1. School of Mechanical and Electrical Engineering, Central South University, Changsha, 410083, Hunan, China

    Guoliang Zhong & Hua Deng

  2. State Key Laboratory of High-Performance Complex Manufacturing, Central South University, Changsha, 410083, Hunan, China

    Guoliang Zhong & Hua Deng

  3. School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan, 430070, Hubei, China

    Junfeng Li

Authors
  1. Guoliang Zhong
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  2. Hua Deng
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  3. Junfeng Li
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Corresponding author

Correspondence to Hua Deng.

Additional information

The Editor-in-Chief has retracted this article because it overlaps significantly with an unpublished manuscript by different authors which was previously submitted to Nonlinear Dynamics in 2013. All authors agree with this retraction.

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Zhong, G., Deng, H. & Li, J. RETRACTED ARTICLE: Chattering-free variable structure controller design via fractional calculus approach and its application. Nonlinear Dyn 81, 679–694 (2015). https://doi.org/10.1007/s11071-015-2019-z

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