Second-Order Sliding Mode Control of a Perturbed-Crane

Vázquez, Carlos; Collado, Joaquı́n; Castillo, Ismaël

doi:10.1115/1.4030253

Cited by 25 publications

(7 citation statements)

References 38 publications

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“…The model predictive control (MPC) was proposed by Wu et al [21]. The SMC control (which is the focus of this work) had been studied in [1,[22][23][24][25][26][27][28][29][30][31][32]. SMC is a special type of variable structure control characterized by a discontinuous control structure that switches as the system crosses certain manifold in the statespace to drive the system trajectory to reach and subsequently remain on the sliding manifold within the state space [33].…”

Section: Introductionmentioning

confidence: 99%

“…The SMC with moving sliding manifold was proposed by [24] where adaptive neurofuzzy inference system was used to generate the value of the manifold slope. The authors in [25][26][27][28]30] proposed adaptive SMC for overhead cranes with uncertainties. The second-order SMC was proposed by [26].…”

Section: Introductionmentioning

confidence: 99%

“…The authors in [25][26][27][28]30] proposed adaptive SMC for overhead cranes with uncertainties. The second-order SMC was proposed by [26]. The major advantage of second-order SMC is eliminating the so-called chattering effect by having a continuous control effort.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Comparative Analysis of Neural-Network and Fuzzy Auto-Tuning Sliding Mode Controls for Overhead Cranes under Payload and Cable Variations

Shehu

Huang

et al. 2019

Journal of Control Science and Engineering

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The overhead crane is required to operate fast and precisely with minimal sway. However, high-speed operations cause undesirable load sways, hazardous to operating personnel, the payload being handled, and the crane itself. Thus, a high-quality control is required. In this work, the nonlinear model of the overhead crane was established and the sliding mode control (SMC) was proposed that ensured the existence of sliding motion in the presence of payload and hoisting height variations, and viscous frictions. To maximize the benefits derived from the proposed control method, novel sliding slope-update based on intelligent neural-network and fuzzy algorithms were developed to tune the controller, guaranteeing precise tracking of the actuated variables as well as regulation of the unactuated variables. The proposed methods adjust predetermined value of the sliding manifold’s slope in response to variations in hoisting heights. Control applications were conducted, and results based on graphical, integral absolute error (IAE), and integral time absolute error (ITAE) proved the effectiveness of the proposed algorithms. It was observed that the response of the controller with back-propagation-trained neural-network was more effective relative to that of the fuzzy algorithm.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Comparative Analysis of Neural-Network and Fuzzy Auto-Tuning Sliding Mode Controls for Overhead Cranes under Payload and Cable Variations

Shehu

Huang

et al. 2019

Journal of Control Science and Engineering

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“…In [11], an adaptive controller based on dissipation theory was designed, achieving rapid stabilization control. In [12,13], a hierarchical sliding-mode controller and an adaptive sliding-mode controller were proposed, respectively, realizing precise positioning of the trolley and effective swing suppression control. An input shaping technique proved to be a simple and effective anti-swing control method through a series of experiments [14][15][16][17][18][19].…”

Section: Introductionmentioning

confidence: 99%

An Enhanced Coupling Nonlinear Tracking Controller for Underactuated 3D Overhead Crane Systems

Zhang

Rong

et al. 2017

Asian Journal of Control

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An enhanced coupling nonlinear tracking control method for an underactuated 3D overhead crane systems is set forth in the present paper. The proposed tracking controller guarantees a smooth start for the trolley and solves the problem of the payload swing angle amplitude increasing as the transferring distance gets longer for the regulation control methods. Different from existing tracking control methods, the presented control approach has an improved transient performance. More specifically, by taking the operation experience, mathematical analysis of the overhead crane system, physical constraints, and operational efficiency into consideration, we first select two desired trajectories for the trolley. Then, a new storage function is constructed by the introduction of two new composite signals, which increases the coupling behaviour between the trolley movement and payload swing. Next, a novel tracking control strategy is designed according to the derivation form of the aforementioned storage function. Lyapunov techniques and Barbalat's Lemma are used to demonstrate the stability of the closed‐loop system without any approximation manipulations to the original nonlinear dynamics. Finally, some simulation and experiments are used to demonstrate the superior transient performance and strong robustness with respect to different cable lengths, payload masses, destinations, and external disturbances of the enhanced coupling nonlinear tracking control scheme.

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“…Some researchers in offshore crane control, therefore, have recently been focus on controlling the payload sway just by the combination of crane's luff, slew and hoist command. The resultant control schemes developed include position feedback control, 20,21 rate-based control, 22 fuzzy control, 23 sliding-mode control [24][25][26] and nonlinear control. 19 Due to the complicated dynamics of offshore crane and the nonlinearity of external disturbances, how to design a high-performance anti-sway controller for offshore crane is still a challenging and open problem.…”

Section: Introductionmentioning

confidence: 99%

Kinematics and force analysis of a novel offshore crane combined compensation system

Wang

Sun

Chen

et al. 2016

Proceedings of the Institution of Mechanical Engineers, Part M:

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Offshore cranes are widely used in offshore industry. However, because of the wave motion of the ship and the flexibility of the rope, the sway of payload is unavoidable and may put relevant operations in danger. Thus, compensation system is an essential part of offshore crane to ensure human safety and increase operation efficiency. In this article, a novel offshore crane combined compensation approach named four-post combined compensation is proposed based on the three-post direct ship motion compensation, aiming to overcome its shortcomings. The structure and principle of fourpost combined compensation is introduced. The mathematical models of four-post combined compensation and threepost direct ship motion compensation are established uniformly and based on which we carry out numerical simulations and comparative analysis of three-post and four-post schemes. Numerical simulation results are included to demonstrate that comparing to three-post scheme, four-post scheme has the following advantages: first, the maximum actuator force requirement can be reduced significantly; second, the work load is distributed more evenly among cylinders; third, the main support shaft can prevent the platform from tipping over; the actuators always push the platform and do not have to be bi-directional, which might result in lower cost and risk.

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Second-Order Sliding Mode Control of a Perturbed-Crane

Cited by 25 publications

References 38 publications

Comparative Analysis of Neural-Network and Fuzzy Auto-Tuning Sliding Mode Controls for Overhead Cranes under Payload and Cable Variations

Comparative Analysis of Neural-Network and Fuzzy Auto-Tuning Sliding Mode Controls for Overhead Cranes under Payload and Cable Variations

An Enhanced Coupling Nonlinear Tracking Controller for Underactuated 3D Overhead Crane Systems

Kinematics and force analysis of a novel offshore crane combined compensation system

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