Fractional order sliding mode control system design for nonlinear MIMO systems with time-varying delay

Abstract

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.