Adaptive Backstepping Sliding Mode Control for Fractional Order Systems

This paper concentrates on the control problem of a class of fractional order nonlinear systems. A new adaptive backstepping sliding mode control is proposed, which inherits both the advantages of backstepping and sliding mode control. Furthermore, a fractional order sliding mode disturbance observer is proposed to estimate unknown external disturbances. Meanwhile, RBF neural network is adopted to approximate unknown nonlinear terms. Finally, an illustrative simulation result based on a practical fractional order permanent magnet synchronous motor model is presented to verify the validity of proposed controller.