Adaptive Synchronization Control for Dual-Manipulator System Using Finite Time Parameter Estimation

Gao, Minmin; Chen, Qiang; Liang, Tao; Nan, Yurong

doi:10.1007/978-981-13-2291-4_47

Cited by 2 publications

(1 citation statement)

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“…In addition, the synchronous control performance of multi-objective systems is affected by model uncertainties and unknown external disturbances. In order to achieve better synchronization control performance, many scholars combine coupling strategies with tracking control methods, such as H ∞ control (Wang et al, 2018b), optimal control (El-Sousy and Abuhasel, 2018; Wang et al, 2018a), adaptive control (Gao et al, 2019; Shang et al, 2020), designed the controller and solved the effect of some uncertain disturbances. However, most of the above control methods have weak suppression of unmodeled dynamics and external uncertain disturbances.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear time-varying sliding mode synchronous control of double-lift overhead cranes under unknown disturbances

Zhu

Wei-min

2022

Transactions of the Institute of Measurement and Control

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During the synchronous operation of the double-container, the double-lift overhead cranes suffer from the perturbation of system internal parameters, friction and external unknown disturbances. To address the impact of the above-mentioned negative factors, based on the mathematical model of induction motor and the coupled dynamics model of double-container, this paper proposes a synchronous control method combining variable gain extended state observer and nonlinear time-varying sliding mode surface for the synchronous coordination control of double-lift overhead cranes system. The load dynamics model of the double-container interlocking mode is established. Then, a nonlinear time-varying sliding mode surface is designed by means of nonlinear function and dynamic exponential term, which effectively speeds up the convergence of the system state and enhances the robustness of the system. Furthermore, the design adaptive reaching law is used to weaken the unwanted chattering and improve the performance of the controller. At the same time, the designed variable gain extended state observer estimates the aggregated disturbances in the system and then compensates them into the controller. The Lyapunov stability theory is used to prove the stability of the control system. The simulation experiments illustrate the effectiveness of the proposed synchronization control scheme.

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