Adaptive backstepping hierarchical sliding mode control for uncertain 3D overhead crane systems

2017 ◽  
Author(s):  
Hai Le Xuan ◽  
Thai Nguyen Van ◽  
Anh Le Viet ◽  
Nga Vu Thi Thuy ◽  
Minh Phan Xuan
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Overhead Crane ◽  
Adaptive Backstepping ◽  
Mode Control ◽  
Hierarchical Sliding Mode

scholarly journals An Efficient Adaptive Fuzzy Hierarchical Sliding Mode Control Strategy for 6 Degrees of Freedom Overhead Crane

2022 ◽  
Author(s):  
Linh Nguyen
Keyword(s):  
Sliding Mode Control ◽  
Degrees Of Freedom ◽  
Fuzzy Inference ◽  
Sliding Mode ◽  
Overhead Crane ◽  
Control Approach ◽  
Mode Control ◽  
Extensive Evaluation ◽  
Hierarchical Sliding Mode ◽  
Six Dof

<pre>The paper proposes a new approach to efficiently control a three-dimensional overhead crane with six degrees of freedom (DoF). In addition to five usual output variables including three positions of the trolley, bridge and pulley and two swing angles of the hoisting cable, it is proposed to consider elasticity of the hoisting cable, which causes oscillation in the cable direction. That is, there exists $6^{th}$ under-actuated output in the crane system. To design an efficient controller for the six-DoF crane, it first employs the hierarchical sliding mode control approach, which not only guarantees stability but also minimizes sway and oscillation of the overhead crane when it transports a payload to desired location. Moreover, the unknown and uncertain parameters of the system caused by its actuator nonlinearity and external disturbances are adaptively estimated and inferred by utilizing the fuzzy inference rule mechanism, which results in efficient operations of the crane in real time. More importantly, stabilization of the crane controlled by the proposed algorithm is theoretically proved by the use of the Lyapunov function. The proposed control approach was implemented in the synthetic environment for the extensive evaluation, where the obtained results demonstrate its effectiveness.</pre>

scholarly journals An Efficient Adaptive Fuzzy Hierarchical Sliding Mode Control Strategy for 6 Degrees of Freedom Overhead Crane

2022 ◽  
Author(s):  
Linh Nguyen
Keyword(s):  
Sliding Mode Control ◽  
Degrees Of Freedom ◽  
Fuzzy Inference ◽  
Sliding Mode ◽  
Overhead Crane ◽  
Control Approach ◽  
Mode Control ◽  
Extensive Evaluation ◽  
Hierarchical Sliding Mode ◽  
Six Dof

<pre>The paper proposes a new approach to efficiently control a three-dimensional overhead crane with six degrees of freedom (DoF). In addition to five usual output variables including three positions of the trolley, bridge and pulley and two swing angles of the hoisting cable, it is proposed to consider elasticity of the hoisting cable, which causes oscillation in the cable direction. That is, there exists $6^{th}$ under-actuated output in the crane system. To design an efficient controller for the six-DoF crane, it first employs the hierarchical sliding mode control approach, which not only guarantees stability but also minimizes sway and oscillation of the overhead crane when it transports a payload to desired location. Moreover, the unknown and uncertain parameters of the system caused by its actuator nonlinearity and external disturbances are adaptively estimated and inferred by utilizing the fuzzy inference rule mechanism, which results in efficient operations of the crane in real time. More importantly, stabilization of the crane controlled by the proposed algorithm is theoretically proved by the use of the Lyapunov function. The proposed control approach was implemented in the synthetic environment for the extensive evaluation, where the obtained results demonstrate its effectiveness.</pre>

Adaptive hierarchical sliding mode control using neural network for uncertain 2D overhead crane

2019 ◽  
Vol 7 (3) ◽  
pp. 996-1004 ◽  
Author(s):  
Hai Xuan Le ◽  
Thai Van Nguyen ◽  
Anh Viet Le ◽  
Tuan Anh Phan ◽  
Nam Hoai Nguyen ◽  
...  
Keyword(s):  
Neural Network ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Overhead Crane ◽  
Mode Control ◽  
Hierarchical Sliding Mode

Research on Adaptive Backstepping Global Sliding Control for CPS

2013 ◽  
Vol 846-847 ◽  
pp. 134-138
Author(s):  
Jue Wang ◽  
Fei Li ◽  
Ye Huang ◽  
Jian Hao Wang ◽  
Hong Lin Zhang
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Flight Simulator ◽  
Position Tracking ◽  
Adaptive Backstepping ◽  
Parameter Uncertainties ◽  
Servo Systems ◽  
Mode Control ◽  
Global Sliding Mode Control ◽  
Compensation Methods

The paper studies the problem of tracking control for flight simulator servo systems, one typical CPS, with parameter uncertainties and nonlinear friction compensation. Methods of adaptive global sliding mode control and backstepping control are respectively proposed to realize the control of virtual rotational speed and position tracking. Adaptive backstepping global sliding mode control strategy for flight simulator servo systems is proposed and its stability is analyzed. Simulation results show the effectiveness of the proposed method, which could achieve the precision position tracking performance and eliminate the chattering.

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