Necdet Sinan Özbek Engineering Science and Technology, an International Journal 35 (2022) 101212

It is worth mentioning that Oustaloup’s approximation is more Thus, the theoretical and practical aspects of different sliding sur-
suitable for real hardware implementation [51]. faces have been investigated. Among these, PID type sliding surface
N
demonstrates robust characteristics and improved performance for
Y
s þ x0i the feedback system [57]. Further, it has been discovered that
a a i¼1 incorporating fractional-order control schemes into high-order
D ¼s K ð19Þ
YN sliding mode control approaches offers enormous promise in the
s þ x‘j fields of robotics and mechatronics. From a broad perspective,
j¼1 designing fractional second-order SMC for increasing the real-
time tracking capabilities of electromechanical system has
YN
s þ xZn received a few considerations, neither in a practical setting nor in
sa ¼ K ð20Þ
s þ xP n an experimental application. This inspires us to look at a new
n¼N
robust fractional second-order SMC. In this light, the current
where research focuses on a novel fractional-order sliding surface combi-
nþNþð1=2Þð1þaÞ nation that achieves improved tracking capability, increased
xh 2Nþ1
robustness, enhanced noise suppression, and a more appropriate
xP n ¼ xl ð21Þ
xl control signal than typical controllers.
and The elaborated fractional second-order SMC is demonstrated in
Fig. 5, which offers more design flexibility. Despite the existence of
nþNþð1=2Þð1aÞ
xh 2Nþ1 alternatives in the literature, due to the fractional-order PID sliding
xZ n ¼ xl ð22Þ surface, involvement of the second-order sliding control mecha-
xl
nism, and robustness capabilities, the proposed control mechanism
The Oustaloup filter roughs fractional functions over a certain
is well-suited for complicated linear and nonlinear dynamical sys-
frequency band xl ; xh and order N using a band-limited filter.
tems having uncertainties.
The fractional-order is N ¼ 5, and the frequency ranges are
In the present study, a fractional-order PIk Da surface is deter-
xl ¼ 0:01; xh ¼ 100.
mined as:

3. Design of the Fractional Second-Order Sliding Mode Control rðtÞ ¼ kp eðtÞ þ ki Dk eðtÞ þ kd Da eðtÞ ð23Þ

where kp ; ki ; kd 2 Rþ denote the controller gain the sliding gain that

Fractional SMC techniques improve the closed-loop system per-
determines the rate of decay for rðtÞ; Rþ denotes positive real num-
formance utilizing fractional operators in the sliding surface. The
bers [39]. The second-time derivative of (23) can be given as:
characteristic of SMC is enhanced by introducing additional
degrees of freedom to the controller. To mention a few, the integral r€ ðtÞ ¼ kp €eðtÞ þ ki D2k eðtÞ þ kd Da €eðtÞ ð24Þ
action over the sliding surface brings an advantage, especially on
the robustness capability; however, to meet the system require- Remark: If rðtÞ ¼ r_ ðtÞ ¼ r
€ ðtÞ ¼ 0 is satisfied, then the error
ments the control signal may grow rapidly that resulting in a large converges to zero.
amplitude controller output. This phenomenon may cause instabil-
ity due to saturation effects on the motion and physical limits of r€ ðtÞ ¼ kp ðy€r ðtÞ þ an y_ m ðtÞ þ bn ym ðtÞ  cn uðtÞ  Uðt; uðtÞÞÞ
the system. Bearing this observation in mind, it is an interesting þkd Da ðy
€r ðtÞ þ an y_ m ðtÞ þ bn ym ðtÞ  cn uðtÞ  Uðt; uðtÞÞÞ ð25Þ
idea to reduce the integration rate by a fractional-order integral þki D 2k
eðtÞ
operator to overcome this problem. Considering the inherent char-
acteristics of the fractional operators, the fractional integral term of The equivalent control signal, which can be calculated by using
the error is included in the design of the sliding surface, which fur- r€ ðtÞ ¼ 0, is designed for the nominal conditions, i.e., Uðt; uðtÞÞ ¼ 0.
ther reduces the effect of the disturbance on the closed-loop sys-
2k 2þa € _
tem. Further, the fractional-order derivative term improves the ueq ðtÞ ¼ ki Dkp cneðtÞ þ kd Dkp cneðtÞ þ c1n yr ðtÞ þ acnn ym ðtÞ þ bcnn ym ðtÞ ð26Þ
robustness capability of the system.
A number of techniques have been elaborated to improve the However, in the presence of uncertainty ueq ðtÞ can be rear-
robustness capability and to suppress the chattering phenomenon ranged as
for the SMC. For instance, the boundary layer control is proposed as 1
an approximation of the nonlinear switching function [52]. There is ueq ðtÞ ¼ ueq ðtÞ þ Uðt; uðtÞÞ ð27Þ
cn
a critical trade-off between robustness and the boundary layer,
which may cause a loss of ideal sliding motion. Yet another chat- If the control law of the switching part is chosen as:
tering alleviation technique is to design observer-based SMC,
which is very effective when the full states cannot be measured
conveniently [53]. Further, high-order sliding mode controller
design is yet another important chattering elimination technique
for SMC design. Particularly, second-order SMC is widely preferred
owing to the practicability and real-time applicability.
The second-order SMC method has attracted great attention
due to the capability of adapting to real-time experiments
[54,39,55]. The central idea of the SMC is to steer the error to the
predetermined sliding surface within a finite time and then drive
it to the equilibrium point through the sliding surface [56]. How-
ever, the main goal for an r th order SMC is to steer the error to
the predefined surface and remain on the r-sliding surface.
The design of the sliding surface acts a leading role to determine
the performance of the controller through the sliding dynamics. Fig. 5. The diagram of fractional second-order sliding mode control.