Abstract
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.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
