An Anti-Swing and Positioning Controller for Overhead Cranes Based on Multi-Sliding Mode Method

2012 ◽  
Vol 468-471 ◽  
pp. 328-334 ◽  
Author(s):  
Wei Min Xu ◽  
Bo Liu ◽  
Jian Xin Chu ◽  
Xian Wen Zhou
Keyword(s):  
Sliding Mode ◽  
System Model ◽  
Control Input ◽  
Overhead Crane ◽  
Overhead Cranes ◽  
Accurate Knowledge ◽  
Nonlinear Mechanical ◽  
Mode Method ◽  
Position Regulation ◽  
Nonlinear Mechanical Systems

Overhead cranes are essentially a kind of complex underactuated nonlinear mechanical systems, and it is a challenge to design an anti-swing controller for overhead cranes, hence, many people design controllers of overhead cranes ignoring the changing of the rope length and other parameters. In this study, we propose a multi-sliding mode controller to solve the problem of anti-swing and positioning controller for an overhead crane with rope length variations. This controller can provide a simultaneous trolley-position regulation, sway suppression, and load hoisting control. Also, this paper adopts a new method to decrease the chattering of the control input. Stability analysis of the proposed controller is given in the paper. The proposed controller does not rely on the accurate knowledge of overhead crane system model, and it is simple and easy to apply, and robust to disturbances. The simulation results show the good performance of the proposed controller.

Direct Adaptive Fuzzy Moving Sliding Mode Proportional Integral Tracking Control of a Three-Dimensional Overhead Crane

2016 ◽  
Vol 138 (10) ◽  
Author(s):  
Tsung-Chih Lin ◽  
Yu-Chen Lin ◽  
Majid Moradi Zirkohi ◽  
Hsi-Chun Huang
Keyword(s):  
Tracking Control ◽  
Sliding Mode ◽  
Three Dimensional ◽  
Overhead Crane ◽  
Nonlinear Controller ◽  
Proportional Integral ◽  
Adaptive Fuzzy ◽  
Highly Nonlinear ◽  
Position Regulation ◽  
Robust Regulation

In this paper, a novel direct adaptive fuzzy moving sliding mode proportional integral (PI) tracking control of a three-dimensional (3D) overhead crane which is modeled by five highly nonlinear second-order ordinary differential equations is proposed. The fast and robust position regulation and antiswing control can be achieved based on the proposed approach. Due to universal approximation theorem, fuzzy control provides nonlinear controller, i.e., fuzzy logic controllers, to perform the unknown nonlinear control actions. Simultaneously, in order to achieve fast and robust regulation and to enhance robustness in the presence of disturbance and parameter variations, moving sliding mode control (SMC) is introduced to tradeoff between reaching phase and sliding phase. Hence, the sliding surface is moved by changing the magnitude of the slope by adaptive law and varying the intercept by tuning algorithm. Simulations performed using a scaled 3D mathematical model of the crane confirm that the proposed control scheme can keep the horizontal position of the payload invariable and suppress the swing of the payload effectively during the hoisting or lowing process.

Experiments of Sliding Mode Control of Time-Delayed Dynamical Systems With Model Uncertainty

2013 ◽  
Author(s):  
Zhi-Chang Qin ◽  
Shun Zhong ◽  
Jian-Qiao Sun
Keyword(s):  
Time Delay ◽  
Sliding Mode Control ◽  
Model Uncertainty ◽  
Sliding Mode ◽  
Target System ◽  
Flexible Link ◽  
Parameter Uncertainties ◽  
Mode Control ◽  
Nonlinear Mechanical ◽  
Nonlinear Mechanical Systems

This paper presents simulation and experimental results of sliding mode control of nonlinear mechanical systems with time delay in the control loop. A flexible link oscillator made by Quanser is used as the target system. Geometric nonlinearity of the spring is included in the model, and the system is assumed to have parameter uncertainties. A sliding mode control with time delay is designed with the method of continuous time approximation. Both computer simulations and experiments show that the sliding mode control gives quite robust performance in the presence of model uncertainty.

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