Integral sliding mode antisway control of an underactuated overhead crane system

M. Defoort, J. Maneeratanaporn, Toshiyuki Murakami

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

5 Citations (Scopus)

Abstract

This paper presents an antisway control strategy for underactuated overhead crane systems. Moving the suspended load along a predefined trajectory is not an easy controlling task due to the residual swing at the end of traveling. In this paper, a robust scheme, based on integral sliding mode control and trolley disturbance observer, is derived to guarantee a fast and accurate load transfer in spite of system uncertainties and actuator nonlinearities. In association with the trajectory tracking control law, a generalized twisting algorithm guarantees the practical stability of the load sway error dynamics. A complete analysis of stability of the closed-loop system is done using the Lyapunov theory. Experimental results are presented to show the advantages of the antisway integral sliding mode controller with the trolley disturbance observer by comparing its effectiveness with a conventional approach, based on a PD controller.

Original languageEnglish
Title of host publication2012 9th France-Japan and 7th Europe-Asia Congress on Mechatronics, MECATRONICS 2012 / 13th International Workshop on Research and Education in Mechatronics, REM 2012
Pages71-77
Number of pages7
DOIs
Publication statusPublished - 2012
EventJoint 2012 9th France-Japan and 7th Europe-Asia Congress on Mechatronics, MECATRONICS 2012 and 13th International Workshop on Research and Education in Mechatronics, REM 2012 - Paris, France
Duration: 2012 Nov 212012 Nov 23

Other

OtherJoint 2012 9th France-Japan and 7th Europe-Asia Congress on Mechatronics, MECATRONICS 2012 and 13th International Workshop on Research and Education in Mechatronics, REM 2012
CountryFrance
CityParis
Period12/11/2112/11/23

Fingerprint

Cranes
Sliding mode control
Trajectories
Controllers
guarantee
Closed loop systems
Actuators
uncertainty
Law
Uncertainty

Keywords

  • Disturbance observer (DOB)
  • Generalized twisting algorithm
  • Integral anti-sway sliding-mode
  • Overhead crane
  • Underactuated systems

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Education

Cite this

Defoort, M., Maneeratanaporn, J., & Murakami, T. (2012). Integral sliding mode antisway control of an underactuated overhead crane system. In 2012 9th France-Japan and 7th Europe-Asia Congress on Mechatronics, MECATRONICS 2012 / 13th International Workshop on Research and Education in Mechatronics, REM 2012 (pp. 71-77). [6450990] https://doi.org/10.1109/MECATRONICS.2012.6450990

Integral sliding mode antisway control of an underactuated overhead crane system. / Defoort, M.; Maneeratanaporn, J.; Murakami, Toshiyuki.

2012 9th France-Japan and 7th Europe-Asia Congress on Mechatronics, MECATRONICS 2012 / 13th International Workshop on Research and Education in Mechatronics, REM 2012. 2012. p. 71-77 6450990.

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

Defoort, M, Maneeratanaporn, J & Murakami, T 2012, Integral sliding mode antisway control of an underactuated overhead crane system. in 2012 9th France-Japan and 7th Europe-Asia Congress on Mechatronics, MECATRONICS 2012 / 13th International Workshop on Research and Education in Mechatronics, REM 2012., 6450990, pp. 71-77, Joint 2012 9th France-Japan and 7th Europe-Asia Congress on Mechatronics, MECATRONICS 2012 and 13th International Workshop on Research and Education in Mechatronics, REM 2012, Paris, France, 12/11/21. https://doi.org/10.1109/MECATRONICS.2012.6450990
Defoort M, Maneeratanaporn J, Murakami T. Integral sliding mode antisway control of an underactuated overhead crane system. In 2012 9th France-Japan and 7th Europe-Asia Congress on Mechatronics, MECATRONICS 2012 / 13th International Workshop on Research and Education in Mechatronics, REM 2012. 2012. p. 71-77. 6450990 https://doi.org/10.1109/MECATRONICS.2012.6450990
Defoort, M. ; Maneeratanaporn, J. ; Murakami, Toshiyuki. / Integral sliding mode antisway control of an underactuated overhead crane system. 2012 9th France-Japan and 7th Europe-Asia Congress on Mechatronics, MECATRONICS 2012 / 13th International Workshop on Research and Education in Mechatronics, REM 2012. 2012. pp. 71-77
@inproceedings{494fecb49bc14246a0510d9a79793a52,
title = "Integral sliding mode antisway control of an underactuated overhead crane system",
abstract = "This paper presents an antisway control strategy for underactuated overhead crane systems. Moving the suspended load along a predefined trajectory is not an easy controlling task due to the residual swing at the end of traveling. In this paper, a robust scheme, based on integral sliding mode control and trolley disturbance observer, is derived to guarantee a fast and accurate load transfer in spite of system uncertainties and actuator nonlinearities. In association with the trajectory tracking control law, a generalized twisting algorithm guarantees the practical stability of the load sway error dynamics. A complete analysis of stability of the closed-loop system is done using the Lyapunov theory. Experimental results are presented to show the advantages of the antisway integral sliding mode controller with the trolley disturbance observer by comparing its effectiveness with a conventional approach, based on a PD controller.",
keywords = "Disturbance observer (DOB), Generalized twisting algorithm, Integral anti-sway sliding-mode, Overhead crane, Underactuated systems",
author = "M. Defoort and J. Maneeratanaporn and Toshiyuki Murakami",
year = "2012",
doi = "10.1109/MECATRONICS.2012.6450990",
language = "English",
isbn = "9781467347716",
pages = "71--77",
booktitle = "2012 9th France-Japan and 7th Europe-Asia Congress on Mechatronics, MECATRONICS 2012 / 13th International Workshop on Research and Education in Mechatronics, REM 2012",

}

TY - GEN

T1 - Integral sliding mode antisway control of an underactuated overhead crane system

AU - Defoort, M.

AU - Maneeratanaporn, J.

AU - Murakami, Toshiyuki

PY - 2012

Y1 - 2012

N2 - This paper presents an antisway control strategy for underactuated overhead crane systems. Moving the suspended load along a predefined trajectory is not an easy controlling task due to the residual swing at the end of traveling. In this paper, a robust scheme, based on integral sliding mode control and trolley disturbance observer, is derived to guarantee a fast and accurate load transfer in spite of system uncertainties and actuator nonlinearities. In association with the trajectory tracking control law, a generalized twisting algorithm guarantees the practical stability of the load sway error dynamics. A complete analysis of stability of the closed-loop system is done using the Lyapunov theory. Experimental results are presented to show the advantages of the antisway integral sliding mode controller with the trolley disturbance observer by comparing its effectiveness with a conventional approach, based on a PD controller.

AB - This paper presents an antisway control strategy for underactuated overhead crane systems. Moving the suspended load along a predefined trajectory is not an easy controlling task due to the residual swing at the end of traveling. In this paper, a robust scheme, based on integral sliding mode control and trolley disturbance observer, is derived to guarantee a fast and accurate load transfer in spite of system uncertainties and actuator nonlinearities. In association with the trajectory tracking control law, a generalized twisting algorithm guarantees the practical stability of the load sway error dynamics. A complete analysis of stability of the closed-loop system is done using the Lyapunov theory. Experimental results are presented to show the advantages of the antisway integral sliding mode controller with the trolley disturbance observer by comparing its effectiveness with a conventional approach, based on a PD controller.

KW - Disturbance observer (DOB)

KW - Generalized twisting algorithm

KW - Integral anti-sway sliding-mode

KW - Overhead crane

KW - Underactuated systems

UR - http://www.scopus.com/inward/record.url?scp=84874486195&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84874486195&partnerID=8YFLogxK

U2 - 10.1109/MECATRONICS.2012.6450990

DO - 10.1109/MECATRONICS.2012.6450990

M3 - Conference contribution

AN - SCOPUS:84874486195

SN - 9781467347716

SP - 71

EP - 77

BT - 2012 9th France-Japan and 7th Europe-Asia Congress on Mechatronics, MECATRONICS 2012 / 13th International Workshop on Research and Education in Mechatronics, REM 2012

ER -