Nonsingular fractional-order integral fast-terminal sliding mode control for underactuated shipboard cranes |
| |
| Institution: | 1. Vietnam Maritime University, Vietnam;2. CRAN Laboratory, University of Lorraine, France;1. Dalian University of Technology, Dalian, China;2. Central South University, Changsha, China;1. Electronic Information Engineering Key Laboratory of Electronic Information of State Ethnic Affairs Commission, College of Electrical Engineering, Southwest Minzu University, Chengdu, Sichuan, 610041, China;2. School of Mathematical Science, University of Electronic Science and Technology of China, Chengdu 611731, China;1. Intelligent Robotics and Automation Group, Federal University of Rio Grande, Rio Grande, Brazil;2. Power Electronics and Control Research Group, Federal University of Santa Maria, Santa Maria, Brazil;1. School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, 611731, China;2. Institute of Electric Vehicle Driving System and Safety Technology, University of Electronic Science and Technology of China, Chengdu, 611731, China |
| |
| Abstract: | Lack of actuators creates many challenges in controlling underactuated systems. Additional difficulty arises when underactuated systems are subject to actuator faults, parametric uncertainties, and disturbances. We develop an adaptive robust controller for such systems by combining various advanced techniques with many benefits. The core of the controller, which is based on nonsingular integral fast-terminal sliding mode, ensures high robustness and quick finite-time convergence, reduces chattering, and prevents singularity. Fault-tolerant control provides good fault compensation. Fractional derivatives make the control structure flexible because fractional orders are adjustable gains. Self-tuning control creates an adaption mechanism that endows the system an intelligent behavior. Two layers of the sliding mode that contain fractional derivative, terminal power, and definite integral ensure terminal Mittag–Leffer stability. We test the proposed approach on an underactuated floating crane through a simulation and an experiment. A comparison with other methods shows the superiority of our approach. |
| |
| Keywords: | |
| 本文献已被 ScienceDirect 等数据库收录！ |
|
