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Volume 5 Issue 3
May  2018

IEEE/CAA Journal of Automatica Sinica

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Menghua Zhang, Xin Ma, Rui Song, Xuewen Rong, Guohui Tian, Xincheng Tian and Yibin Li, "Adaptive Proportional-Derivative Sliding Mode Control Law With Improved Transient Performance for Underactuated Overhead Crane Systems," IEEE/CAA J. Autom. Sinica, vol. 5, no. 3, pp. 683-690, Mar. 2018. doi: 10.1109/JAS.2018.7511072
Citation: Menghua Zhang, Xin Ma, Rui Song, Xuewen Rong, Guohui Tian, Xincheng Tian and Yibin Li, "Adaptive Proportional-Derivative Sliding Mode Control Law With Improved Transient Performance for Underactuated Overhead Crane Systems," IEEE/CAA J. Autom. Sinica, vol. 5, no. 3, pp. 683-690, Mar. 2018. doi: 10.1109/JAS.2018.7511072

Adaptive Proportional-Derivative Sliding Mode Control Law With Improved Transient Performance for Underactuated Overhead Crane Systems

doi: 10.1109/JAS.2018.7511072
Funds:

the National High Technology Research and Development Program of China (863 Program) 2015AA042307

Shandong Provincial Scientific and Technological Development Foundation 2014GGX103038

Shandong Provincial Independent Innovation and Achievement Transformation Special Foundation 2015ZDXX0101E01

National Natural Science Fundation of China (NSFC) and Joint Fund of Shandong Province U1706228

the Fundamental Research Funds of Shandong University 2015JC027

More Information
  • In this paper, an adaptive proportional-derivative sliding mode control (APD-SMC) law, is proposed for 2D underactuated overhead crane systems. The proposed controller has the advantages of simple structure, easy to implement of PD control, strong robustness of SMC with respect to external disturbances and uncertain system parameters, and adaptation for unknown system dynamics associated with the feedforward parts. In the proposed APD-SMC law, the PD control part is used to stabilize the controlled system, the SMC part is used to compensate the external disturbances and system uncertainties, and the adaptive control part is utilized to estimate the unknown system parameters. The coupling behavior between the trolley movement and the payload swing is enhanced and, therefore, the transient performance of the proposed controller is improved. The Lyapunov techniques and the LaSalle's invariance theorem are employed in to support the theoretical derivations. Experimental results are provided to validate the superior performance of the proposed control law.

     

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