TY - GEN
T1 - Integral sliding mode antisway control of an underactuated overhead crane system
AU - Defoort, M.
AU - Maneeratanaporn, J.
AU - Murakami, T.
N1 - Copyright:
Copyright 2013 Elsevier B.V., All rights reserved.
PY - 2012
Y1 - 2012
N2 - 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.
AB - 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.
KW - Disturbance observer (DOB)
KW - Generalized twisting algorithm
KW - Integral anti-sway sliding-mode
KW - Overhead crane
KW - Underactuated systems
UR - http://www.scopus.com/inward/record.url?scp=84874486195&partnerID=8YFLogxK
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U2 - 10.1109/MECATRONICS.2012.6450990
DO - 10.1109/MECATRONICS.2012.6450990
M3 - Conference contribution
AN - SCOPUS:84874486195
SN - 9781467347716
T3 - 2012 9th France-Japan and 7th Europe-Asia Congress on Mechatronics, MECATRONICS 2012 / 13th International Workshop on Research and Education in Mechatronics, REM 2012
SP - 71
EP - 77
BT - 2012 9th France-Japan and 7th Europe-Asia Congress on Mechatronics, MECATRONICS 2012 / 13th International Workshop on Research and Education in Mechatronics, REM 2012
T2 - 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
Y2 - 21 November 2012 through 23 November 2012
ER -