FIXED-TIME SLIDING MODE CONTROL OF RUBBER-TIRED GANTRY CRANES

Abstract

In this paper, a fixed-time robust control algorithm is developed to minimize the tracking trajectory error of the rubber-tired gantry crane system. Firstly, a robust controller is designed based on sliding mode control theory to ensure the output of this system reaches the desired value. Then, the stability analysis of the proposed method based on Lyapunov stability theory, and the calculation of the convergence time are presented, which enables the operator to control the convergence time of the system through the control parameters. Finally, numerical simulation is implemented to verify the effectiveness of the proposed controller in tracking the desired trajectory and having a fixed convergence time.