期刊
IET CONTROL THEORY AND APPLICATIONS
卷 12, 期 18, 页码 2588-2594出版社
INST ENGINEERING TECHNOLOGY-IET
DOI: 10.1049/iet-cta.2018.5344
关键词
observers; variable structure systems; control system synthesis; trolleys; cranes; trajectory control; disturbance-observer-based antiswing control; underactuated crane systems; finite-time sliding mode control method; antiswing control law; finite-time disturbance observer; finite-time control law; two-dimensional space; external disturbance estimation; trolley regulation; precise trolley positioning; swing suppression
资金
- National Natural Science Foundation of China [61673243, 61703232]
- Natural Science Foundation of Shandong Province [ZR2017QF013, ZR2017MF068]
- Major Research Project of Shandong Province [2017GSF18116]
- Experimental Technical Research Project of Qufu Normal University [SJ201706]
In this study, based on the finite-time sliding mode control method, an antiswing control law is designed for the underactuated crane systems in two-dimensional space with external disturbance. The finite-time disturbance observer is utilised to estimate the external disturbance and develop the finite-time control law. The designed controller can regulate the trolley to the planned trajectory within a finite time in the presence of external disturbance. Then it can be shown that the proposed control approach can achieve precise trolley positioning and swing suppression. Simulation results are provided to show the satisfactory control performances of the presented control method in terms of working efficiency as well as robustness with respect to external disturbance.
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