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

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.