We apply fractional calculus, fuzzy logic, and nonlinear control to synthesize an adaptive control system for rubber tired gantry (RTG) cranes facing unknown winds, five uncertain parameters, and faults at all motors. Both dynamic model, nonlinear controller, and fuzzy estimator hold fractional derivatives. Due to considering the viscoelastic frictions, crane model is governed by fractional differential equations. Together with well tracking multi-outputs despite the lack of actuators, controller remains the system robustness and fuzzy mechanism makes crane be adaptive, heuristic, and smart. The major adaption comes from the three-in-one compensation provided by a fuzzy observer. The variant fractional-orders of controller and fuzzy mechanism play a role as flexible gains. The control system is validated by numerical simulation and doing experiment on a laboratory RTG crane.

中文翻译：

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轮胎式门式起重机的模糊分数阶控制


我们应用分数阶微积分、模糊逻辑和非线性控制来合成一个自适应控制系统，用于面临未知风、五个不确定参数和所有电机故障的轮胎式龙门起重机 （RTG） 起重机。动态模型、非线性控制器和模糊估计器都持有分数阶导数。由于考虑了粘弹性摩擦，起重机模型由分数阶微分方程控制。尽管没有执行器，但控制器仍然保持着良好的多输出跟踪，系统的稳健性和模糊机制使起重机具有自适应性、启发式和智能性。主要的适应来自模糊观察者提供的三合一补偿。控制器和模糊机制的变体分数阶起到灵活增益的作用。该控制系统通过数值模拟和在实验室 RTG 起重机上进行实验进行了验证。