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

Jadesada Maneeratanaporn, Toshiyuki Murakami

研究成果: Conference contribution

6 引用 (Scopus)

抄録

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.

元の言語English
ホスト出版物のタイトルInternational Workshop on Advanced Motion Control, AMC
DOI
出版物ステータスPublished - 2012
イベント2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012 - Sarajevo, Bosnia and Herzegovina
継続期間: 2012 3 252012 3 27

Other

Other2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
Bosnia and Herzegovina
Sarajevo
期間12/3/2512/3/27

Fingerprint

Disturbance Observer
Cranes
Sliding Mode
Controller
Controllers
Lyapunov
Eliminate
Trajectories
Underactuated System
Trajectory
Robustness
Switching functions
Chattering
Convergence Speed
Asymptotic stability
Asymptotic Stability
Nonlinear systems
Actuator
High Speed
Actuators

ASJC Scopus subject areas

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

これを引用

Maneeratanaporn, J., & Murakami, T. (2012). Anti-sway sliding-mode with trolley disturbance observer for overhead crane system. : International Workshop on Advanced Motion Control, AMC [6197014] https://doi.org/10.1109/AMC.2012.6197014

Anti-sway sliding-mode with trolley disturbance observer for overhead crane system. / Maneeratanaporn, Jadesada; Murakami, Toshiyuki.

International Workshop on Advanced Motion Control, AMC. 2012. 6197014.

研究成果: Conference contribution

Maneeratanaporn, J & Murakami, T 2012, Anti-sway sliding-mode with trolley disturbance observer for overhead crane system. : International Workshop on Advanced Motion Control, AMC., 6197014, 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012, Sarajevo, Bosnia and Herzegovina, 12/3/25. https://doi.org/10.1109/AMC.2012.6197014
Maneeratanaporn J, Murakami T. Anti-sway sliding-mode with trolley disturbance observer for overhead crane system. : International Workshop on Advanced Motion Control, AMC. 2012. 6197014 https://doi.org/10.1109/AMC.2012.6197014
Maneeratanaporn, Jadesada ; Murakami, Toshiyuki. / Anti-sway sliding-mode with trolley disturbance observer for overhead crane system. International Workshop on Advanced Motion Control, AMC. 2012.
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