Integral sliding mode antisway control of an underactuated overhead crane system

M. Defoort, J. Maneeratanaporn, T. Murakami

研究成果: Conference contribution

7 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2012 9th France-Japan and 7th Europe-Asia Congress on Mechatronics, MECATRONICS 2012 / 13th International Workshop on Research and Education in Mechatronics, REM 2012
ページ71-77
ページ数7
DOI
出版ステータスPublished - 2012
イベント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
継続期間: 2012 11月 212012 11月 23

出版物シリーズ

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

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
国/地域France
CityParis
Period12/11/2112/11/23

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 機械工学
  • 教育

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