Sliding-Mode-Based Trajectory Tracking and Load Sway Suppression Control for Double-Pendulum Overhead Cranes

Abstract

Overhead cranes with double-pendulum effect seem more practical than those with singlependulum effect. However, in this case, the dynamic performance analysis and the controller design become more difficult. Moreover, achieving both high-precision tracking control and load sway suppression is a more significant issue for crane systems. In order to solve the aforementioned problems, the nonlinear dynamics of a 2-D overhead crane with double-pendulum effect is derived for controller design. Then, a novel sliding mode controller with nonlinear sliding surface is presented. Unlike a traditional linear sliding surface, the nonlinear one can change the damping ratio of the closed-loop system from its initial low value to final high value. The low value can provide a quick response, whereas the high value one can eliminate overshoot to make the cart track the given trajectory more precisely. The stability of the whole system is confirmed by the Lyapunov technique. The numerical simulation and experimental results validate that the proposed method has superior control performance and robustness with respect to parameter variations and external disturbance.INDEX TERMS Overhead crane, double-pendulum effect, load sway suppression, tracking control, nonlinear sliding mode surface.

Tracking and load sway reduction for double‐pendulum rotary cranes using adaptive nonlinear control approach

“…Without loss of generality, the following assumption, which was used in many crane‐related studies, is reasonable. The rope and the rigging can be seen as massless rigid links, and their flexibility and torsion can be neglected. For cranes working in practice, the hook is always beneath the boom, and the load is always beneath the hook; hence, the hook sway angles and the load sway angles always satisfy …”

“…Recently, some scholars have proposed a lot of methods for the double‐pendulum load sway suppression problem in crane systems . Jaafar et al presented a novel model reference command shaping approach to deal with the vibration reduction problem in a double‐pendulum overhead crane system .…”

“…Ouyang et al presented an S‐shaped curve trajectory generation method and a composite controller, which is the combination of a PD controller and a disturbance observer, for overhead cranes . In order to increase the robustness of crane system, an LMI‐based controller was proposed in the work of Ouyang et al In addition, two kinds of sliding mode–based control methods were also applied into overhead crane systems to achieve the trade‐off problem between cart tracking and double‐pendulum load sway suppression . An energy‐coupled method was applied into crane system .…”

“…Recently, some scholars have proposed a lot of methods for the double-pendulum load sway suppression problem in crane systems. [38][39][40][41][42][43][44][45][46][47][48][49][50][51][52][53][54][55][56] Jaafar et al presented a novel model reference command shaping approach to deal with the vibration reduction problem in a double-pendulum overhead crane system. 38 In addition, other similar input shaping-based methods were also reported in other works.…”

“…45 In order to increase the robustness of crane system, an LMI-based controller was proposed in the work of Ouyang et al 46 In addition, two kinds of sliding mode-based control methods were also applied into overhead crane systems to achieve the trade-off problem between cart tracking and double-pendulum load sway suppression. 47,48 An energy-coupled method was applied into crane system. 49 Sun et al proposed a series of methods such as nonlinear quasi-PID approach, nonlinear adaptive antiswing controller, energy-optimal controller, and amplitude-saturated nonlinear output-feedback controller for double-pendulum overhead cranes.…”