期刊
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY
卷 27, 期 6, 页码 1863-1873出版社
KOREAN SOC MECHANICAL ENGINEERS
DOI: 10.1007/s12206-013-0437-8
关键词
Lyapunov function; Overhead crane; Sliding mode control; Switching surface
资金
- Ministry of Knowledge Economy (MKE) of South Korea [10041629]
- MKE under the IT R&D program of KEIT [KI10040990]
- Technology Innovation Program of MKE/KEIT [10040992]
- Korea Evaluation Institute of Industrial Technology (KEIT) [10040992, 10041629] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
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.
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