期刊
IEEE-CAA JOURNAL OF AUTOMATICA SINICA
卷 5, 期 3, 页码 683-690出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/JAS.2018.7511072
关键词
Adaptability; adaptive proportional-derivative sliding mode control (APD-SMC); coupling behavior; LaSalle's invariance theorem; Lyapunov techniques; robustness; underactuated overhead crane
资金
- 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)
- Joint Fund of Shandong Province [U1706228]
- Fundamental Research Funds of Shandong University [2015JC027]
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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