Fractional Order Sliding Mode Control System Design for Nonlinear MIMO Systems with Time-Varying Delay

Atan Ö.

4th International Conference on Modelling and Simulation for Autonomous Systems (MESAS), Rome, Italy, 24 - 26 October 2017, vol.10756, pp.170-178 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Volume: 10756
  • Doi Number: 10.1007/978-3-319-76072-8_12
  • City: Rome
  • Country: Italy
  • Page Numbers: pp.170-178
  • Van Yüzüncü Yıl University Affiliated: Yes


This paper has aimed to design fractional-order sliding mode controller (FO-SM) for time delayed MIMO system. The proposed controller has many uncertain parameters so we used adaptive particle swarm optimization method to determine the parameters. The controller provides faster tracking and more stable structure than the integer order. The selection of the controller parameters is important for control performance so intelligent optimization can provide optimal control parameters. Simulation results show that FO-SM controller has robust control performance through change of time delay.