Abstract
Crawler crane is an under-actuated system whose five outputs are tracked by only two actuators. Crawler crane also comprises complex dynamic model with nonlinear kinematic constraints while suffering from strong wind and uncertainties. This study proposes a robust control system for crawler cranes by combining five techniques: fractional-order differential, back-stepping, sliding mode control, finite-time Lyapunov stability, and Mittag–Leffler theory. The proposed control approach is investigated by simulating on a practical Manitowoc® crane. Results reveal that the controller works well, that is, crane tracks boom and payload to destinations while keeping payload swing small during operation. However, the locally tiny oscillations of boom and payload remain due to handling cable elasticity.
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