Abstract
This study focuses on the design of robust nonlinear controllers based on both conventional and hierarchical sliding mode techniques for double-pendulum overhead crane systems. In the first approach, a first-order sliding surface is provided and a proper control scheme is generated to stabilize the surface. In the second approach, two levels of sliding surfaces are proposed and the control scheme is designed based on the stability of the second-level surface. We also prove the stability of the first-level sliding surface. To verify the quality of the proposed controllers, simulation for a particular type of overhead crane systems is implemented. Simulation results show that all state trajectories asymptotically converged to desired values.
| Original language | English |
|---|---|
| Pages (from-to) | 1863-1873 |
| Number of pages | 11 |
| Journal | Journal of Mechanical Science and Technology |
| Volume | 27 |
| Issue number | 6 |
| DOIs | |
| Publication status | Published - Jun 2013 |
Bibliographical note
Funding Information:This research was partially supported by the Ministry of Knowledge Economy (MKE) of South Korea with supervision from the Korea Evaluation Institute of Industrial Technology (KEIT) (Grant No. 10041629, Implementation of Technologies for Identification, Behavior, and Location of Human based on Sensor Network Fusion Program), as well as MKE under the IT R&D program of KEIT (Grant No. KI10040990, A Development of Communication Technology with UTIS & Vehicle Safety Support Service for Urban Area). It was also supported by the Technology Innovation Program (10040992) of MKE/KEIT.
Keywords
- Lyapunov function
- Overhead crane
- Sliding mode control
- Switching surface
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