Construction tower cranes exhibit significant nonlinear characteristics and high flexibility due to limited control input, posing major challenges for controller design and stability analysis. To achieve anti-sway control while constraining system variables within a safe range, a new given-performance anti-sway control strategy has been successfully developed by combining composite sliding mode control with fractional calculus. Specifically, advanced Mittag-Leffler stability and fractional-order relevant theories are introduced to prove the convergence of the composite sliding surface and all state variables to zero. Time delay information estimates uncertainties, eliminating the requirement of prior knowledge of the upper bound of uncertainty in traditional sliding mode control. The introduced performance function strictly constraints both the actuated and underactuated variables to ensure the given-performance, namely, the actual transient-state and steady-state control performance of the system can be quantitatively predetermined according to practical application requirements. Finally, the superior performance of the method is verified through experiments.

中文翻译：

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给定性能的 4-DOF 塔式起重机系统的分数阶复合材料滑模控制


由于控制输入有限，建筑塔式起重机表现出明显的非线性特性和高灵活性，对控制器设计和稳定性分析提出了重大挑战。为了实现防摇控制，同时将系统变量限制在安全范围内，通过将复合滑模控制与分数阶微积分相结合，成功开发了一种新的给定性能防摇控制策略。具体来说，引入了先进的 Mittag-Leffler 稳定性和分数阶相关理论来证明复合滑动面和所有状态变量的收敛性为零。时滞信息估计不确定性，消除了传统滑模控制中不确定性上限的先验知识要求。引入的性能函数严格约束驱动变量和欠驱动变量，以确保给定的性能，即系统的实际瞬态和稳态控制性能可以根据实际应用需求定量预定。最后，通过实验验证了该方法的优越性能。