Finite-time disturbance observer via continuous fractional sliding modes

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AudienciaPúblico en generales_ES
CoberturaMéxicoes_ES
Fecha de ingreso2026-09-15T00:30:27Z
Fecha de publicación2017-01-01
ResumenRecently, a great deal of effort has been devoted to the design of robust control techniques that compensate for lumped disturbances in mechanical robots and general electromechanical systems through disturbance observers. In this paper, assuming the Hamiltonian structure of Euler–Lagrange systems subject to a wider class of disturbances, and by exploiting some essential properties of fractional-order integro-differential operators, such as heritage and memory, a disturbance observer that is theoretically exact is proposed based on continuous fractional sliding modes, where exactness is understood in the sense of equality, in contrast to simple equivalence. The novelty of the proposal arises from the fact that the continuous fractional sliding-mode disturbance observer is exact, assuring finite-time disturbance estimation, in contrast with a classical integer-order sliding motion that is equivalent. Consequently, there arises a disturbance observer in finite time, including exact observation of continuous but not necessarily differentiable Hölder disturbances, as well as a clear compromise between regularity and robustness, which stands for a quite important issue overlooked in the conventional integer-order case. Representative simulations are discussed to highlight the reliability of the proposed method.es_ES
Doihttps://doi.org/10.1177/0142331217737833es_ES
URIhttps://riuat.uat.edu.mx/handle/123456789/2431
Idiomaeses_ES
EditorialSAGE Publicationses_ES
RelaciónTransactions of the Institute of Measurement and Controles_ES
URL relacionadohttps://doi.org/10.1177/0142331217737833es_ES
DerechosAcceso abierto (Metadatos de producción científica)es_ES
Licenciahttp://purl.org/coar/access_right/c_abf2es_ES
FuenteTransactions of the Institute of Measurement and Control
TítuloFinite-time disturbance observer via continuous fractional sliding modeses_ES
TipoArtículoes_ES
ArbitradoHa sido Arbitradoes_ES
AutorMuñoz-Vázquez, Aldo-Jonathan
AutorParra-Vega, Vicente
AutorSánchez-Orta, Anand
AutorRomero-Galván, Gerardo
AutorMuñoz-Vázquez, Aldo-Jonathanes_ES
AutorParra-Vega, Vicentees_ES
AutorSánchez-Orta, Anandes_ES
AutorRomero-Galván, Gerardoes_ES
InstituciónUniversidad Autónoma de Tamaulipas
InstituciónUniversidad Autónoma de Tamaulipases_ES
Número14es_ES
Rango de páginas3953-3963es_ES
URL relacionadahttps://doi.org/10.1177/0142331217737833
Tipo de artículoIndexado
Tipo de artículoIndexadoes_ES
Volumen40es_ES

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