Using three actuators for tracking five outputs, rubber-tired gantry (RTG) crane is found to be a highly under-actuated system subject to random wind due to working outdoors. Applying fractional calculus to sliding mode control (SMC), we construct an adaptive robust control system for RTG cranes under parametric variations and unknown wind. The adaptive feature is achieved by using an estimation mechanism for approximating five crane parameters and wind disturbances. The core of the sliding mode displays robust behavior against uncertainties. For comparison, another robust controller is proposed based on finite-time sliding mode. Simulation and experiment results show the superiority of adaptive fractional-order sliding mode control, in which the controller well tracks actuated states and stabilizes unactuated states despite parametric uncertainties and unknown disturbances.

通过使用三个执行器跟踪五个输出，轮胎式龙门起重机（RTG）起重机被发现是一个非常低效的系统，由于在户外工作会受到随机风的影响。将分数演算应用于滑模控制（SMC），我们构造了RTG起重机在参数变化和未知风下的自适应鲁棒控制系统。自适应功能是通过使用一种估计机制来实现的，该机制用于估计五个起重机参数和风干扰。滑动模式的核心显示出针对不确定性的鲁棒行为。为了进行比较，提出了另一种基于有限时间滑模的鲁棒控制器。仿真和实验结果表明自适应分数阶滑模控制的优越性，