Keywords
Rubber-tired gantry crane system, robust control, convergence time, Lyapunov stability. Hệ thống cổng trục giàn bánh lốp, điều khiển bền vững, thời gian hội tụ, ổn định Lyapunov.
How to Cite
PHẠM VĂN, T. (2025). FIXED-TIME SLIDING MODE CONTROL OF RUBBER-TIRED GANTRY CRANES. Journal of Marine Science and Technology, 82(82), 205–212. Retrieved from https://jmst.vimaru.edu.vn/index.php/tckhcnhh/article/view/582
Abstract
In this paper, a fixed-time robust control algorithm is developed to minimize the tracking trajectory error of the rubber-tired gantry crane system. Firstly, a robust controller is designed based on sliding mode control theory to ensure the output of this system reaches the desired value. Then, the stability analysis of the proposed method based on Lyapunov stability theory, and the calculation of the convergence time are presented, which enables the operator to control the convergence time of the system through the control parameters. Finally, numerical simulation is implemented to verify the effectiveness of the proposed controller in tracking the desired trajectory and having a fixed convergence time.