Journal
MECHANICAL SYSTEMS AND SIGNAL PROCESSING
Volume 154, Issue -, Pages -Publisher
ACADEMIC PRESS LTD- ELSEVIER SCIENCE LTD
DOI: 10.1016/j.ymssp.2020.107601
Keywords
Cranes; Sliding mode control; Fractional-order control
Categories
Funding
- Vietnam National Foundation for Science and Technology Development (NAFOSTED) [107.01-2019.301]
Ask authors/readers for more resources
This study presents an adaptive robust control system for rubber-tired gantry (RTG) cranes using fractional calculus combined with sliding mode control to deal with parametric variations and unknown wind disturbances. Simulation and experiment results demonstrate the superiority of the proposed control system in tracking actuated states and stabilizing unactuated states, despite uncertainties and disturbances.
Using three actuators for tracking five outputs, rubber-tired gantry (RTG) crane is found to be a highly under-actuated system subject to random wind due to working outdoors. Applying fractional calculus to sliding mode control (SMC), we construct an adaptive robust control system for RTG cranes under parametric variations and unknown wind. The adaptive feature is achieved by using an estimation mechanism for approximating five crane parameters and wind disturbances. The core of the sliding mode displays robust behavior against uncertainties. For comparison, another robust controller is proposed based on finite-time sliding mode. Simulation and experiment results show the superiority of adaptive fractional-order sliding mode control, in which the controller well tracks actuated states and stabilizes unactuated states despite parametric uncertainties and unknown disturbances. (C) 2021 Elsevier Ltd. All rights reserved.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available