Adaptive sliding mode control of overhead cranes with varying cable length

Tuấn, Lê Anh; Moon, Sang-Chan; Lee, Won Gu; Lee, Soon-Geul

doi:10.1007/s12206-013-0204-x

Cited by 71 publications

(26 citation statements)

References 35 publications

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“…Based on real-time measured information, such as position, velocity and swing angle, the control input is adjusted to reduce the error between actual and referenced states. Proportional derivative (PD) control [4,6], sliding-mode control [19,31,21], fuzzy control [13,2] and adaptive control [34] have all been applied to overhead cranes in the fold of feedback strategies. Generally, feedback strategies can be divided into two types, tracking and non-tracking strategies.…”

mentioning

confidence: 99%

Model predictive control for improving operational efficiency of overhead cranes

2014

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Model predictive control (MPC) has been successfully applied to many transportation systems. For the control of overhead cranes, existing MPC approaches mainly focus on improving the regulation performance, such as tracking error or steady-state error. In this paper, energy efficiency as well as safety is newly considered in our proposed MPC approach. Based on the system model designed, the MPC approach is applied to minimize an objective function that is formulated as the integration of energy consumption and swing angle. In our approach, promising results in terms of low energy consumption and small swing angle can be found, whilst the solutions obtained can satisfy all practical constraints. Our test results indicate that the MPC approach can ensure stability and robustness of improving energy efficiency and safety.

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confidence: 99%

Model predictive control for improving operational efficiency of overhead cranes

2014

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“…Also, these controllers cannot guarantee the good performances for the system under condition of uncertain factors. In order to face with system uncertainties, many advanced controllers have been presented such as sliding mode controllers [7][8][9][10][11][12][13], fuzzy controllers [14][15][16][17][18][19][20][21], intelligent adaptive strategies [22] and so on.…”

Section: Introductionmentioning

confidence: 99%

Robust Adaptive Control of 3D Overhead Crane System

Vu¹,

Thanh²,

Duong³

et al. 2018

Adaptive Robust Control Systems

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In this chapter an adaptive anti-sway controller for uncertain overhead cranes is proposed. The system model including the system uncertainties and disturbances is introduced firstly. Next, the adaptive controller which can guarantee tracking the desired position of the trolley as well as the anti-sway of the load cable is established. In this chapter, the system is proven to be input-to-state stable (ISS) which is supported by Lyapunov technique. The proposed algorithm is verified by using Matlab/Simulink simulation tool. The simulation results shown that the presented controller gives the good performances (i.e., fast transient response, position tracking, and low swing angle) when there exist system parameters variation as well as input disturbances.

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“…[17], a payload motion-based control approach is presented in the presence of system parameter uncertainties. In [18][19][20], non-linear controllers are designed on the basis of partial feedback linearization. In Ref.…”

Section: Introductionmentioning

confidence: 99%

Robust Control of Crane with Perturbations

Wu¹,

Chen²,

Yang³

2018

Adaptive Robust Control Systems

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In the presence of persistent perturbations in both unactuated and actuated dynamics of crane systems, an observer-based robust control method is proposed, which achieves the objective of trolley positioning and cargo swing suppression. By dealing with the unactuated and unknown perturbation as an augmented state variable, the system dynamics are transformed into a quasi-chain-of-integrators form based on which a reduced-order augmented-state observer is established to recover the perturbations appearing in the unactuated dynamics. A novel sliding manifold is constructed to improve the robust performance of the control system, and a linear control law is presented to make the state variables stay on the manifold in the presence of perturbations in unactuated dynamics. A Lyapunov function candidate is constructed, and the entire closed-loop system is proved rigorously to be exponentially stable at the equilibrium point. The effectiveness and robustness of the proposed observer-based robust controller are verified by numerical simulation results.

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Adaptive sliding mode control of overhead cranes with varying cable length

Cited by 71 publications

References 35 publications

Model predictive control for improving operational efficiency of overhead cranes

Model predictive control for improving operational efficiency of overhead cranes

Robust Adaptive Control of 3D Overhead Crane System

Robust Control of Crane with Perturbations

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