CONTROL STRATEGY OF A 3D-GANTRY CRANE BASED ON FRACTIONAL-ORDER SLIDING MODE CONTROL
No. 70 (2022), Science - Technology
No. 70 (2022)

CONTROL STRATEGY OF A 3D-GANTRY CRANE BASED ON FRACTIONAL-ORDER SLIDING MODE CONTROL

Science - Technology
Published 2022-05-30
TRIEU PHAM VAN
TRONG DANG VAN
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Keywords

Cổng trục 3D, Phép toán bậc phân số, Bộ điều khiển trượt bậc phân số, Lý thuyết ổn định Lyapunov. Three-dimensional (3D) gantry crane, Fractional calculus, Fractional-order Sliding Mode Control (FOSMC), Lyapunov's stability theory.

How to Cite

PHẠM VĂN, T., & ĐẶNG VĂN, T. (2022). CONTROL STRATEGY OF A 3D-GANTRY CRANE BASED ON FRACTIONAL-ORDER SLIDING MODE CONTROL. Journal of Marine Science and Technology, 70(70), 30–35. Retrieved from https://jmst.vimaru.edu.vn/index.php/tckhcnhh/article/view/6
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Abstract

In this paper, the object that we consider is a 3D crane model with five degrees of freedom. To deal with this nonlinear and multiple-input multiple-output (MIMO) system in which there is a lack of actuators, we present a fractional-order sliding mode controller. This controller has an adjustable fractional order so that we can find the point with the optimal response. In addition, the stability and convergence time is also taken into account. The simulation results proving the effectiveness of the proposed controller are conducted through Matlab-Simulink software.

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