Page 282 - Mathematical Techniques of Fractional Order Systems

Design of Fractional Order Fuzzy Sliding Mode Controller Chapter | 9 271

TABLE 9.6 IAE Values and Objective Functions for Disturbance (at
Controller Output) Rejection Task
IAE Link-1 IAE Link-2 Objective function
IOSMCPD 0.0013 0.0021 0.0037
FOFSMCPD 0.0012 0.0016 0.0030

FIGURE 9.16 IAE and objective function values for disturbance (at controller output) rejection
study.

2.5 2.5
Reference trajectory link-1 Reference trajectory link-2
2 IOSMCPD link-1 1.5 2 IOSMCPD link-2
FOFSMCPD link-1
FOFSMCPD link-2
Angular position (radian) 0.5 1 0 Angular position (radian) 0.5 1 –0.9985 1.95 2 2.05
1.5
–0.999
–0.9995
–1
0.1
–0.5
0.09
–0.5 0
–1 0.08
0.05 0.06
–1
–1.5
0 1 2 3 4 0 1 2 3 4
Time (s) Time (s)
(A) (B)
FIGURE 9.17 Trajectory tracking curves for disturbance (at controller output) rejection study
(A) link-1; (B) link-2.