Time-varying sliding mode controller design with Super-twisting algorithm for Synchronous control of Double-Containers for Overhead Cranes

Zhu, Xinlei; Wei-min, XU; You, Zhiteng; Hu, Qiang; Xu, Xianxian

doi:10.23919/ccc52363.2021.9549901

Cited by 2 publications

(2 citation statements)

References 17 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…However, both have problems such as long convergence time of system error and weak robustness. In order to realize the synchronous control of double-lift overhead cranes system under uncertain disturbance, Zhu et al (2021) proposed a control scheme combining time-varying sliding mode and adaptive super-twisting algorithm, but there are some residual errors in the error convergence of simulation. It is well known that the sliding mode control method consists of reaching phase and sliding phase, and the robustness of the above sliding mode control scheme against uncertain disturbances is only reflected in the sliding phase, so the robustness of the controller can be effectively enhanced if the convergence section is effectively shortened or eliminated.…”

Section: Introductionmentioning

confidence: 99%

“…Compared with traditional single-lift overhead cranes, the application of double-lift overhead cranes greatly improves the efficiency of loading and unloading port containers. However, due to the influence of factors such as system internal parameter perturbation, load differences, friction and external uncertain disturbances, the motor model of the double-lift overhead cranes system has nonlinear and time-varying characteristics (Wang et al, 2019; Zhu et al, 2021). In addition, the motor load is generally inertial load or dynamic load, but the overhead cranes load is the potential load.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

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

Self Cite

View full text Add to dashboard Cite

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.

show abstract

Section: Introductionmentioning

confidence: 99%

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

Self Cite

View full text Add to dashboard Cite

show abstract

Finite-time model-free robust synchronous control of multi-lift overhead cranes based on iterative learning

Jin,

2024

Transactions of the Institute of Measurement and Control

View full text Add to dashboard Cite

A model-free control method based on iterative learning law combined with adaptive super-twisting is proposed to realize the synchronous coordination control of multi-lift overhead crane system for the problems of inaccurate modeling, system parameter variation, and disturbance uncertainty that exist in multi-lift overhead crane system. First, a load-coupling model of the double-container overhead crane considering the deformation tangential force in the interlocking mode is established. Second, a time-varying sliding mode surface (TSMC) designed using nonlinear functions effectively improves the convergence speed of the system state. The method of iterative learning control is introduced to compensate the system dynamics to achieve model-free control, and the dynamic iterative learning control (DILC) is designed to improve the convergence speed of the error of the system and the steady-state performance. To suppress uncertainty disturbances and avoid control gain overestimation, an adaptive gain is added to the generalized super-twisting algorithm, which has the advantages of both finite-time convergence and chattering suppression, and improves the robustness and tracking performance of the multi-lift overhead crane system. The stability of the controlled system is analyzed using Lyapunov stability theory. The simulation experiments illustrate the effectiveness of the proposed synchronization control scheme.

show abstract

Time-varying sliding mode controller design with Super-twisting algorithm for Synchronous control of Double-Containers for Overhead Cranes

Cited by 2 publications

References 17 publications

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

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

Finite-time model-free robust synchronous control of multi-lift overhead cranes based on iterative learning

Contact Info

Product

Resources

About