Model-free hierarchical control with fractional-order sliding surface for multisection web machines

Due to the nonlinearities and dynamical properties of multisection web machines, it is essential to accomplish an appropriate mathematical model as well as design a compatible control scheme. A generalized fully driven web winding model is constructed taking unpredictable changes of moment of inertia and radius of rolls into consideration. In this article, a fractional-order sliding surface algorithm-based hierarchical control frame is applied to multisection web machines to deal with matched and mismatched uncertainties and disturbances. In addition, the Radius Basis Function neural network is deployed to estimate necessary system dynamics and the proposed control scheme taking advantage of first-order low-pass filters to produce virtual control signals without complicated calculation and attenuate the explosion of terms phenomenon. Finally, the semi-global stability of the entire system is determined using Lyapunov's stability theory. The simulation results are presented to clarify the superior performance of robust control algorithm and approximation law in the presence of nonideal elements.