Adaptive fractional-order terminal sliding mode control of rubber-tired gantry cranes with uncertainties and unknown disturbances

• Published in: Mechanical systems and signal processing Vol. 154; p. 107601
• Main Authors: Cuong, Hoang Manh, Dong, Hoang Quoc, Trieu, Pham Van, Tuan, Le Anh
• Format: Journal Article
• Language: English
• Published: Berlin Elsevier Ltd 01.06.2021; Elsevier BV
• Subjects: Actuators; Adaptive control; Controllers; Cranes; Cranes & hoists; Disturbances; Fractional calculus; Fractional-order control; Gantry cranes; Robust control; Rubber; Sliding mode control; Uncertainty; Fractional-order control; Cranes; Sliding mode control

•A fractional–order control system is developed for rubber-tired gantry cranes.•The core of sliding mode control is enhanced by combining with fractional calculus and adaptive control.•The controller works well, holds robustness and adaptation when the crane faces uncertainties and unknown wind.•Sim...