Anti-sway sliding-mode with trolley disturbance observer for overhead crane system

Jadesada Maneeratanaporn, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

Moving the suspended load along a predefined trajectory as fast as possible is not an easy controlling task due to the residual swing at the end of travelling. In this paper, the overhead crane is fully automated with the high speed trajectory. Robust scheme, namely anti-sway sliding-mode with trolley disturbance observer (DOB), are implemented with overhead crane systems. The anti-sway sliding-mode is specially designed for underactuated nonlinear systems which is derived from Lyapunov law. The asymptotic stability of switching function is proved theoretically. The controller can eliminate the error toward their sliding surfaces. Furthermore, trolley disturbance observer is also implemented to enhance the robustness. An obvious advantage of this kind of controller is based on simple control scheme however it can guarantee the robustness, speed convergence and swing suppression. In this paper, Experiment results are presented to show the superiority of the anti-sway sliding-mode with actuator's disturbance observer by comparing the effectiveness with PD controller assisting with Lyapunov based anti-sway controller and anti-sway sliding mode without disturbance observer. Not only that, but also the filtering technique is employed to eliminate chattering effect.

Original languageEnglish
Title of host publicationAbstracts - 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
DOIs
Publication statusPublished - 2012 Jun 4
Event2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012 - Sarajevo, Bosnia and Herzegovina
Duration: 2012 Mar 252012 Mar 27

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

Other2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
CountryBosnia and Herzegovina
CitySarajevo
Period12/3/2512/3/27

Keywords

  • Anti-sway sliding-mode
  • Disturbance observer (DOB)
  • Overhead crane
  • Underactuated nonlinear systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Anti-sway sliding-mode with trolley disturbance observer for overhead crane system'. Together they form a unique fingerprint.

Cite this