Second-order sliding mode control of a 3D overhead crane with uncertain system parameters

Tuấn, Lê Anh; Kim, Jae-Jun; Lee, Soon-Geul; Lim, Tae-Gyoon; Nho, Luong Cong

doi:10.1007/s12541-014-0404-z

Cited by 59 publications

(26 citation statements)

References 36 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Due to their inability to cope with perturbations and disturbances, some researchers combined them with closed‐loop controllers to improve the control performance . As for closed‐loop control schemes, it can be further categorized into proportional integral derivative, linear quadratic regulator, model predictive control (MPC), adaptive control, sliding mode control, etc. The closed‐loop control schemes listed above are all model‐based methods, which suggests that their control performances severely depend on the accurate mathematical modeling of overhead crane systems.…”

Section: Introductionmentioning

confidence: 99%

A unified symplectic pseudospectral method for motion planning and tracking control of 3D underactuated overhead cranes

Wang

Liu

Zhang

et al. 2019

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

Summary In this paper, a unified symplectic pseudospectral method for motion planning and tracking control of 3D underactuated overhead cranes is proposed. A feasible reference trajectory taking constraints into consideration is first generated offline by the symplectic pseudospectral optimal control method. Then, a trajectory tracking model predictive controller also based on the symplectic pseudospectral method is developed to track the reference trajectory. At each sampling instant, the trajectory tracking controller works by solving an open‐loop optimal control problem where linearized system dynamics is used instead to improve the computational efficiency. Since the symplectic pseudospectral optimal control method is the core algorithm for both offline trajectory planning and online trajectory tracking, constraints on state variables and control inputs can be easily imposed and hence theoretically guaranteed in solutions. By selecting proper weighted matrices on tracking error and control, the developed controller could achieve control objectives in both accurate trolley positioning and fast suppressing of residual swing angles. Simulations for 3D overhead crane systems in the presence of perturbations in initial conditions, an abrupt variation of system parameter, and various external disturbances demonstrate that the developed controller is robust and of excellent control performance.

show abstract

Section: Introductionmentioning

confidence: 99%

A unified symplectic pseudospectral method for motion planning and tracking control of 3D underactuated overhead cranes

Wang

Liu

Zhang

et al. 2019

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

show abstract

“…These controllers have been mainly based on Neural Network (NN) [19][20][21]and fuzzy controllers [22][23][24]. Finally, sliding mode control was successfully applied to crane systems in many studies [25,26]. In this study, genetic algorithm (GA) based parameter optimization of a Linear Quadratic Regulator (LQR) which was designed for position control and swing suppression of an overhead crane is presented.…”

Section: Introductionmentioning

confidence: 99%

Anti-Swing Control of an Overhead Crane by Using Genetic Algorithm Based LQR

Önen

2017

ijecs

View full text Add to dashboard Cite

“…These include high driving force, high holding force without any power supply, high precision, low magnetic noise, vacuum compatibility, rapid response, compact mechanism, and silent operation. [15][16][17][18][19][20][21][22] However, many typical precision motion systems driven by an ultrasonic motor have only been demonstrated for short working distances and simple motions such as a stepwise motion along a single axis.…”

Section: Introductionmentioning

confidence: 99%

Ultraprecision XY stage using a hybrid bolt-clamped Langevin-type ultrasonic linear motor for continuous motion

Lee

2015

Review of Scientific Instruments

View full text Add to dashboard Cite

This paper presents a design and control system for an XY stage driven by an ultrasonic linear motor. In this study, a hybrid bolt-clamped Langevin-type ultrasonic linear motor was manufactured and then operated at the resonance frequency of the third longitudinal and the sixth lateral modes. These two modes were matched through the preload adjustment and precisely tuned by the frequency matching method based on the impedance matching method with consideration of the different moving weights. The XY stage was evaluated in terms of position and circular motion. To achieve both fine and stable motion, the controller consisted of a nominal characteristics trajectory following (NCTF) control for continuous motion, dead zone compensation, and a switching controller based on the different NCTFs for the macro- and micro-dynamics regimes. The experimental results showed that the developed stage enables positioning and continuous motion with nanometer-level accuracy.

show abstract

Second-order sliding mode control of a 3D overhead crane with uncertain system parameters

Cited by 59 publications

References 36 publications

A unified symplectic pseudospectral method for motion planning and tracking control of 3D underactuated overhead cranes

A unified symplectic pseudospectral method for motion planning and tracking control of 3D underactuated overhead cranes

Anti-Swing Control of an Overhead Crane by Using Genetic Algorithm Based LQR

Ultraprecision XY stage using a hybrid bolt-clamped Langevin-type ultrasonic linear motor for continuous motion

Contact Info

Product

Resources

About