Journal
NONLINEAR DYNAMICS
Volume 105, Issue 4, Pages 3149-3165Publisher
SPRINGER
DOI: 10.1007/s11071-021-06793-6
Keywords
Underactuated system; Tower crane; Time-varying rope length; Sway rejection; Robust adaptive sliding mode control
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Funding
- National Natural Science Foundation of China [51707092, 61703202]
- Postgraduate Research and Practice Innovation Program of Jiangsu Province [SJCX21_0480]
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A method based on robust adaptive sliding mode control is proposed to design controllers for tower cranes, which effectively solves the problem of payload oscillation and online estimates unknown payload mass. Various and strict simulations have validated the effectiveness and extreme robustness of the proposed method.
Tower cranes are well-known underactuated systems, where the design of controllers for them with time-varying rope length was weak in the past because of their complex dynamic characteristic. The payload oscillation will become worse when the jib slew angle, the trolley position and the rope length are changed simultaneously. The proposed method is designed based on robust adaptive sliding mode control via tracking nonzero initial reference trajectories, in which frictions and lumped disturbances in the crane system are eliminated, and unknown payload mass is effectively estimated online. Lyapunov technique is combined with LaSalle's invariance theorem to design controller and analyze stability. Various and strict simulations are applied, which validate the effectiveness and extreme robustness of the proposed method.
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